public static RaceCar AddRaceCar(Scene scene, TransformNode Marke, Vector3 CarPos, GeometryNode CModel, int IdPlayer)
{
TransformNode transNode = new TransformNode();
transNode.Name = "Tcar:" + IdPlayer;
transNode.Translation = CarPos;
CModel.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
NewtonPhysics physicsEngine = (NewtonPhysics)scene.PhysicsEngine;
RaceCar car = new RaceCar(CModel, physicsEngine);
for (int i = 0; i < 4; i++)
car.Tires[i] = CreateTire((TireID)Enum.ToObject(typeof(TireID), i),
car.TireTransformNode[i], CModel, scene.PhysicsEngine.Gravity);
car.Collidable = true;
car.Interactable = true;
car.StartPos = CarPos;
//Physic material Name
car.MaterialName = "Car" + IdPlayer;
CModel.Physics = car;
CModel.Physics.NeverDeactivate = true;
CModel.AddToPhysicsEngine = true;
//Add To node
transNode.AddChild(CModel);
Marke.AddChild(transNode);
Newton.NewtonSetBodyLeaveWorldEvent(physicsEngine.NewtonWorld,
car.LeaveWorldCallback);
return car;
}
private GeometryNode ShootBullet; //Geometry for Bullet
#endregion Fields
#region Constructors
public Bullet(Vector3 InitPos, PrimitiveModel BulletModel, Material Material, Vector3 DirBullet, MarkerNode grdMarkerNode)
{
//Create Bullet
ShootBullet = new GeometryNode();
ShootBullet.Name = "ShootBullet" + ShootBullet.ID;
ShootBullet.Model = BulletModel;
ShootBullet.Material = Material;
ShootBullet.Physics.Interactable = true;
ShootBullet.Physics.Collidable = true;
ShootBullet.Physics.Shape = GoblinXNA.Physics.ShapeType.Box;
ShootBullet.Physics.Mass = 60f;
ShootBullet.Physics.MaterialName = "Bullet";
ShootBullet.AddToPhysicsEngine = true;
// Assign the initial velocity to this shooting box
ShootBullet.Physics.InitialLinearVelocity = new Vector3(DirBullet.X * 80, DirBullet.Y * 80, DirBullet.Z * 50);
BulletTrans = new TransformNode();
BulletTrans.Translation = InitPos;
grdMarkerNode.AddChild(BulletTrans);
BulletTrans.AddChild(ShootBullet);
//Normal asignament
isvisible = true;
//Agrego Segundo desde que se creo
livetime = Convert.ToInt32(DateTime.Now.TimeOfDay.TotalSeconds) + BULLET_TIMELIVE;
}
public override Node CloneNode()
{
TransformNode clone = (TransformNode)base.CloneNode();
clone.PostTranslation = postTranslation;
clone.PreTranslation = preTranslation;
clone.Rotation = rotation;
clone.Scale = scaling;
clone.WorldTransformation = WorldTransformation;
clone.UseUserDefinedTransform = useUserDefinedTransform;
clone.ComposedTransform = composedTransform;
clone.IsWorldTransformationDirty = isWorldTransformationDirty;
clone.IsReadOnly = isReadOnly;
return(clone);
}
public static RaceCar AddRaceCar(Scene scene, TransformNode parentTrans)
{
TransformNode transNode = new TransformNode();
transNode.Translation = new Vector3(0, 10, 10);
Material carMat = new Material();
carMat.Diffuse = Color.Pink.ToVector4();
carMat.Specular = Color.White.ToVector4();
carMat.SpecularPower = 10;
GeometryNode carNode = new GeometryNode("Race Car");
carNode.Model = new Box(3, 1.0f, 2);
carNode.Material = carMat;
carNode.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
NewtonPhysics physicsEngine = (NewtonPhysics)scene.PhysicsEngine;
RaceCar car = new RaceCar(carNode, physicsEngine);
for (int i = 0; i < 4; i++)
car.Tires[i] = CreateTire((TireID)Enum.ToObject(typeof(TireID), i),
car.TireTransformNode[i], carNode, scene.PhysicsEngine.Gravity);
car.Collidable = true;
car.Interactable = true;
carNode.Physics = car;
carNode.Physics.NeverDeactivate = true;
carNode.AddToPhysicsEngine = true;
parentTrans.AddChild(transNode);
transNode.AddChild(carNode);
Newton.NewtonSetBodyLeaveWorldEvent(physicsEngine.NewtonWorld,
car.LeaveWorldCallback);
return car;
}
public TransformNode getPatientNameNode(Object markerID)
{
if (markerID.Equals("PatientMarkerConfig.txt"))
{
GeometryNode sphereNode = new GeometryNode("Sphere");
sphereNode.Model = new Sphere(3.5f, 20, 20);
sphereNode.Model.CastShadows = true;
sphereNode.Model.ReceiveShadows = true;
Material sphereMat = new Material();
sphereMat.Diffuse = Color.Red.ToVector4();
sphereMat.Specular = Color.White.ToVector4();
sphereMat.SpecularPower = 20;
sphereNode.Material = sphereMat;
//sphereNode.Physics.Interactable = false;
TransformNode sphereTrans = new TransformNode();
sphereTrans.Translation = new Vector3(0, 0, 5);
sphereTrans.AddChild(sphereNode);
return sphereTrans;
}
return null;
}
private void SetupMarkerTracking()
{
DirectShowCapture2 captureDevice = new DirectShowCapture2();
captureDevice.InitVideoCapture(0, FrameRate._30Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
// Add this video capture device to the scene so that it can be used for
// the marker tracker
scene.AddVideoCaptureDevice(captureDevice);
// if we're using Wrap920AR, then we need to add another capture device for
// processing stereo camera
if (iTracker.ProductID == iWearDllBridge.IWRProductID.IWR_PROD_WRAP920)
{
DirectShowCapture2 captureDevice2 = new DirectShowCapture2();
captureDevice2.InitVideoCapture(1, FrameRate._30Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
scene.AddVideoCaptureDevice(captureDevice2);
}
IMarkerTracker tracker = null;
#if USE_ARTAG
// Create an optical marker tracker that uses ARTag library
tracker = new ARTagTracker();
// Set the configuration file to look for the marker specifications
tracker.InitTracker(638.052f, 633.673f, captureDevice.Width,
captureDevice.Height, false, "ARTag.cf");
#else
// Create an optical marker tracker that uses ALVAR library
tracker = new ALVARMarkerTracker();
((ALVARMarkerTracker)tracker).MaxMarkerError = 0.02f;
tracker.InitTracker(captureDevice.Width, captureDevice.Height, "calib.xml", 9.0);
#endif
scene.MarkerTracker = tracker;
if (iTracker.ProductID == iWearDllBridge.IWRProductID.IWR_PROD_WRAP920)
{
scene.LeftEyeVideoID = 0;
scene.RightEyeVideoID = 1;
scene.TrackerVideoID = 0;
}
// Create a marker node to track a ground marker array.
#if USE_ARTAG
groundMarkerNode = new MarkerNode(scene.MarkerTracker, "ground");
scene.RootNode.AddChild(groundMarkerNode);
#else
// Create an array to hold a list of marker IDs that are used in the marker
// array configuration (even though these are already specified in the configuration
// file, ALVAR still requires this array)
int[] ids = new int[28];
for (int i = 0; i < ids.Length; i++)
ids[i] = i;
groundMarkerNode = new MarkerNode(scene.MarkerTracker, "ALVARGroundArray.txt", ids);
// Add a transform node to tranlate the objects to be centered around the
// marker board.
TransformNode transNode = new TransformNode();
scene.RootNode.AddChild(groundMarkerNode);
#endif
scene.ShowCameraImage = true;
}
public static void AddRollingBeats(Scene scene, TransformNode parentTrans)
{
Vector3 size = new Vector3(10.0f, 0.25f, 0.25f);
Vector3 location = new Vector3(0, 3, 3);
GeometryNode bar;
// //////////////////////////////////////////////////////////////////
//
// Create a bar and attach it to the world with a hinge with limits
//
// //////////////////////////////////////////////////////////////////
{
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = location;
pileTrans.Rotation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, MathHelper.PiOver2);
Material barMat = new Material();
barMat.Diffuse = Color.Purple.ToVector4();
barMat.Specular = Color.White.ToVector4();
barMat.SpecularPower = 10;
bar = new GeometryNode("Bar");
bar.Model = new Cylinder(size.Y, size.Y, size.X, 20);
bar.Material = barMat;
bar.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
bar.AddToPhysicsEngine = true;
bar.Physics.Interactable = true;
bar.Physics.Collidable = true;
bar.Physics.Shape = ShapeType.Cylinder;
bar.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(bar);
Vector3 pivot = location + parentTrans.Translation;
Vector3 pin = Vector3.UnitY;
pivot.X -= size.X * 0.5f;
HingeJoint joint = new HingeJoint(pivot, pin);
joint.NewtonHingeCallback = doubleDoor;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(bar.Physics, null, joint);
}
// /////////////////////////////////////////////////////////////////
//
// Add a sliding visualObject with limits
//
////////////////////////////////////////////////////////////////////
{
Vector3 beatLocation = location;
Vector3 beatSize = new Vector3(0.5f, 2.0f, 2.0f);
beatLocation.X += size.X * 0.25f;
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = beatLocation;
Material beatMat = new Material();
beatMat.Diffuse = Color.Red.ToVector4();
beatMat.Specular = Color.White.ToVector4();
beatMat.SpecularPower = 10;
GeometryNode beat = new GeometryNode("Beat Slider");
beat.Model = new Box(beatSize);
beat.Material = beatMat;
beat.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
beat.AddToPhysicsEngine = true;
beat.Physics.Interactable = true;
beat.Physics.Collidable = true;
beat.Physics.Shape = ShapeType.Box;
beat.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(beat);
Vector3 pivot = beatLocation + parentTrans.Translation;
Vector3 pin = Vector3.UnitX;
sliderLimit.X = ((location.X - beatLocation.X) - size.X * 0.5f);
sliderLimit.Y = ((location.X - beatLocation.X) + size.X * 0.5f);
SliderJoint joint = new SliderJoint(pivot, pin);
sliderUpdate = delegate(IntPtr slider, ref Newton.NewtonHingeSliderUpdateDesc desc)
{
float distance = Newton.NewtonSliderGetJointPosit(slider);
if (distance < sliderLimit.X)
{
// if the distance is smaller than the predefine interval, stop the slider
desc.m_Accel = Newton.NewtonSliderCalculateStopAccel(slider, ref desc, sliderLimit.X);
return 1;
}
else if (distance > sliderLimit.Y)
{
// if the distance is larger than the predefine interval, stop the slider
desc.m_Accel = Newton.NewtonSliderCalculateStopAccel(slider, ref desc, sliderLimit.Y);
return 1;
}
// no action need it if the joint angle is with the limits
return 0;
};
joint.NewtonSliderCallback = sliderUpdate;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(beat.Physics, bar.Physics, joint);
}
// /////////////////////////////////////////////////////////////////
//
// Add a corkscrew visualObject with limits
//
// /////////////////////////////////////////////////////////////////
{
Vector3 beatLocation = location;
Vector3 beatSize = new Vector3(0.5f, 2.0f, 2.0f);
beatLocation.X -= size.X * 0.25f;
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = beatLocation;
Material beatMat = new Material();
beatMat.Diffuse = Color.YellowGreen.ToVector4();
beatMat.Specular = Color.White.ToVector4();
beatMat.SpecularPower = 10;
GeometryNode beat = new GeometryNode("Beat Corkscrew");
beat.Model = new Box(beatSize);
beat.Material = beatMat;
beat.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
beat.AddToPhysicsEngine = true;
beat.Physics.Interactable = true;
beat.Physics.Collidable = true;
beat.Physics.Shape = ShapeType.Box;
beat.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(beat);
Vector3 pivot = beatLocation + parentTrans.Translation;
Vector3 pin = Vector3.UnitX;
corkscrewLimit.X = ((location.X - beatLocation.X) - size.X * 0.5f);
corkscrewLimit.Y = ((location.X - beatLocation.X) + size.X * 0.5f);
CorkscrewJoint joint = new CorkscrewJoint(pivot, pin);
corkscrewUpdate = delegate(IntPtr corkscrew, Newton.NewtonHingeSliderUpdateDesc[] desc)
{
// no action need it if the joint angle is with the limits
uint retCode = 0;
float distance = Newton.NewtonCorkscrewGetJointPosit(corkscrew);
// The first entry in NewtonHingeSliderUpdateDesc control the screw linear acceleration
if (distance < corkscrewLimit.X)
{
// if the distance is smaller than the predefine interval, stop the slider
desc[0].m_Accel = Newton.NewtonCorkscrewCalculateStopAccel(corkscrew,
ref desc[0], corkscrewLimit.X);
retCode |= 1;
}
else if (distance > corkscrewLimit.Y)
{
// if the distance is larger than the predefine interval, stop the slider
desc[0].m_Accel = Newton.NewtonCorkscrewCalculateStopAccel(corkscrew, ref
desc[0], corkscrewLimit.Y);
retCode |= 1;
}
// The second entry in NewtonHingeSliderUpdateDesc control the screw angular acceleration.
// Make s small screw motor by setting the angular acceleration of the screw axis
// We are not going to limit the angular rotation of the screw, but is we did we should
// or return code with 2
float omega = Newton.NewtonCorkscrewGetJointOmega(corkscrew);
desc[1].m_Accel = 1.5f - 0.2f * omega;
// or with 0x10 to tell newton this axis is active
retCode |= 2;
// return the code
return retCode;
};
joint.NewtonCorkscrewCallback = corkscrewUpdate;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(beat.Physics, bar.Physics, joint);
}
// /////////////////////////////////////////////////////////////////
//
// Add a universal joint visualObject with limits
//
// /////////////////////////////////////////////////////////////////
{
Vector3 beatLocation = location;
Vector3 beatSize = new Vector3(0.5f, 2.0f, 2.0f);
beatLocation.X -= size.X * 0.45f;
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = beatLocation;
Material beatMat = new Material();
beatMat.Diffuse = Color.YellowGreen.ToVector4();
beatMat.Specular = Color.White.ToVector4();
beatMat.SpecularPower = 10;
GeometryNode beat = new GeometryNode("Beat Universal");
beat.Model = new Box(beatSize);
beat.Material = beatMat;
beat.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
beat.AddToPhysicsEngine = true;
beat.Physics.Interactable = true;
beat.Physics.Collidable = true;
beat.Physics.Shape = ShapeType.Box;
beat.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(beat);
Vector3 pivot = beatLocation + parentTrans.Translation;
Vector3 pin0 = Vector3.UnitX;
Vector3 pin1 = Vector3.UnitY;
universalLimit.X = -30.0f * MathHelper.Pi / 180.0f;
universalLimit.Y = 30.0f * MathHelper.Pi / 180.0f;
UniversalJoint joint = new UniversalJoint(pivot, pin0, pin1);
universalUpdate = delegate(IntPtr universal, Newton.NewtonHingeSliderUpdateDesc[] desc)
{
// no action need it if the joint angle is with the limits
uint retCode = 0;
float omega = Newton.NewtonUniversalGetJointOmega0(universal);
desc[0].m_Accel = -1.5f - 0.2f * omega;
retCode |= 1;
float angle = Newton.NewtonUniversalGetJointAngle1(universal);
if (angle < universalLimit.X)
{
desc[1].m_Accel = Newton.NewtonUniversalCalculateStopAlpha1(universal, ref desc[1],
universalLimit.X);
retCode |= 2;
}
else if (angle > universalLimit.Y)
{
desc[1].m_Accel = Newton.NewtonUniversalCalculateStopAlpha1(universal, ref desc[1],
universalLimit.Y);
retCode |= 2;
}
// return the code
return retCode;
};
joint.NewtonUniversalCallback = universalUpdate;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(beat.Physics, bar.Physics, joint);
}
}
private void CreateObjects()
{
// Create a sphere geometry
{
GeometryNode sphereNode = new GeometryNode("Sphere");
sphereNode.Model = new Sphere(3.5f, 20, 20);
sphereNode.Model.CastShadows = true;
sphereNode.Model.ReceiveShadows = true;
Material sphereMat = new Material();
sphereMat.Diffuse = Color.Red.ToVector4();
sphereMat.Specular = Color.White.ToVector4();
sphereMat.SpecularPower = 20;
sphereNode.Material = sphereMat;
TransformNode sphereTrans = new TransformNode();
sphereTrans.Translation = new Vector3(0, 0, 5);
groundMarkerNode.AddChild(sphereTrans);
sphereTrans.AddChild(sphereNode);
}
// Create a box geometry
{
GeometryNode boxNode = new GeometryNode("Box");
boxNode.Model = new Box(6);
boxNode.Model.CastShadows = true;
boxNode.Model.ReceiveShadows = true;
Material boxMat = new Material();
boxMat.Diffuse = Color.Blue.ToVector4();
boxMat.Specular = Color.White.ToVector4();
boxMat.SpecularPower = 20;
boxNode.Material = boxMat;
TransformNode boxTrans = new TransformNode();
boxTrans.Translation = new Vector3(-35, -18, 8);
groundMarkerNode.AddChild(boxTrans);
boxTrans.AddChild(boxNode);
}
// Create a cylinder geometry
{
GeometryNode cylinderNode = new GeometryNode("Cylinder");
cylinderNode.Model = new Cylinder(3.5f, 3.5f, 10, 20);
cylinderNode.Model.CastShadows = true;
cylinderNode.Model.ReceiveShadows = true;
Material cylinderMat = new Material();
cylinderMat.Diffuse = Color.Green.ToVector4();
cylinderMat.Specular = Color.White.ToVector4();
cylinderMat.SpecularPower = 20;
cylinderNode.Material = cylinderMat;
TransformNode cylinderTrans = new TransformNode();
cylinderTrans.Translation = new Vector3(35, -18, 8);
groundMarkerNode.AddChild(cylinderTrans);
cylinderTrans.AddChild(cylinderNode);
}
// Create a torus geometry
{
GeometryNode torusNode = new GeometryNode("Torus");
torusNode.Model = new Torus(2.5f, 6.0f, 20, 20);
torusNode.Model.CastShadows = true;
torusNode.Model.ReceiveShadows = true;
Material torusMat = new Material();
torusMat.Diffuse = Color.Yellow.ToVector4();
torusMat.Specular = Color.White.ToVector4();
torusMat.SpecularPower = 20;
torusNode.Material = torusMat;
TransformNode torusTrans = new TransformNode();
torusTrans.Translation = new Vector3(-35, 18, 8);
groundMarkerNode.AddChild(torusTrans);
torusTrans.AddChild(torusNode);
}
// Create a capsule geometry
{
GeometryNode capsuleNode = new GeometryNode("Capsule");
capsuleNode.Model = new Capsule(3, 12, 20);
capsuleNode.Model.CastShadows = true;
capsuleNode.Model.ReceiveShadows = true;
Material capsuleMat = new Material();
capsuleMat.Diffuse = Color.Cyan.ToVector4();
capsuleMat.Specular = Color.White.ToVector4();
capsuleMat.SpecularPower = 20;
capsuleNode.Material = capsuleMat;
TransformNode capsuleTrans = new TransformNode();
capsuleTrans.Translation = new Vector3(35, 18, 8);
groundMarkerNode.AddChild(capsuleTrans);
capsuleTrans.AddChild(capsuleNode);
}
}
private void CreateMarkerTracking()
{
Console.WriteLine(DateTime.Now.ToString() + " Setup Markers\n");
// Create a marker node to track a ground marker array.
groundMarkerNode = new MarkerNode(scene.MarkerTracker, "ALVARGroundArray.xml");
//Add marker to Scene
scene.RootNode.AddChild(groundMarkerNode);
/***** For Weapons *****/
//Add Big Parent for All Weapons
parentTNodeWeapon = new TransformNode();
parentTNodeWeapon.Name = "Weapons";
groundMarkerNode.AddChild(parentTNodeWeapon);
/***** For Cars *****/
parentTNodeCars = new TransformNode();
parentTNodeCars.Name = "TCars";
groundMarkerNode.AddChild(parentTNodeCars);
/************** Array of markers **************/
int HinIdx, MarkIdx = 29;
//Add Markers with the Code Index between 29 - 32 for the Weapons (one for player)
for (HinIdx = 0; HinIdx < Max_palyer; HinIdx++)
{
WeaponMarkeNodes[HinIdx] = new MarkerNode(scene.MarkerTracker, MarkIdx);
scene.RootNode.AddChild(WeaponMarkeNodes[HinIdx]);
MarkIdx++;
}
//Add Markers with the Code Index between 33 - 38 for the Obstacles
for (HinIdx = 0; HinIdx < Max_Markers; HinIdx++)
{
HinderMarkeNodes[HinIdx] = new MarkerNode(scene.MarkerTracker, MarkIdx);
scene.RootNode.AddChild(HinderMarkeNodes[HinIdx]);
MarkIdx++;
}
}
public RaceCar(Object container, NewtonPhysics engine)
: base(container)
{
this.engine = engine;
//Crea los cuatro nodos de transformacion para las 4 Ruedas
tireTransNode = new TransformNode[4];
for (int i = 0; i < 4; i++)
tireTransNode[i] = new TransformNode();
// set the mass of the race car - Propiedad heredada
mass = VEHICLE_MASS;
// lower the center of the mass for a race car
centerOfMass = -Vector3.UnitY * 1.5f;
// sets up the callback function when body moves in the simulation
transformCallback = delegate(IntPtr body, float[] matrix)
{
Matrix mat = MatrixHelper.FloatsToMatrix(matrix);
// set the transformation of the vehicle body
PhysicsWorldTransform = mat;
Matrix invMat = Matrix.Invert(mat);
float[] tireMatrix = new float[16];
NewtonTire tire = null;
float sign = 0;
float angle = 0;
float brakePosition = 0;
// set the global matrix for each tire
for (IntPtr tyreId = Newton.NewtonVehicleGetFirstTireID(joint);
tyreId != IntPtr.Zero; tyreId = Newton.NewtonVehicleGetNextTireID(joint, tyreId))
{
int tireID = (int)GetTireID(tyreId);
tire = tires[tireID];
Newton.NewtonVehicleGetTireMatrix(joint, tyreId, tireMatrix);
// calculate the local matrix
Matrix tireMat = MatrixHelper.GetRotationMatrix(
MatrixHelper.FloatsToMatrix(tireMatrix) * invMat) * tire.TireOffsetMatrix;
tire.TireMatrix = tireMat;
tireTransNode[tireID].WorldTransformation = Matrix.CreateRotationX(MathHelper.PiOver2)
* tireMat;
// calcualte the parametric brake position
brakePosition = tireMat.Translation.Y - tire.TireRefHeight;
tire.BrakeMatrix = Matrix.CreateTranslation(0, tire.BrakeRefPosition.Y + brakePosition, 0);
// set suspensionMatrix
sign = (tire.BrakeRefPosition.Z > 0) ? 1 : -1;
angle = (float)Math.Atan2(sign * brakePosition, Math.Abs(tire.BrakeRefPosition.Z));
Matrix rotationMatrix = new Matrix(
1, 0, 0, 0,
0, (float)Math.Cos(angle), (float)Math.Sin(angle), 0,
0, -(float)Math.Sin(angle), (float)Math.Cos(angle), 0,
0, 0, 0, 1);
tire.AxelMatrix = rotationMatrix * tire.AxelMatrix;
tire.SuspensionTopMatrix = rotationMatrix * tire.SuspensionTopMatrix;
tire.SuspensionBottomMatrix = rotationMatrix * tire.SuspensionBottomMatrix;
}
};
forceCallback = delegate(IntPtr body)
{
float Ixx = 0, Iyy = 0, Izz = 0, tmpMass = 0;
Newton.NewtonBodyGetMassMatrix(body, ref tmpMass, ref Ixx, ref Iyy, ref Izz);
tmpMass *= (1.0f + (float)Math.Abs(GetSpeed()) / 20.0f);
float[] force = Vector3Helper.ToFloats(engine.GravityDirection * engine.Gravity * tmpMass);
Newton.NewtonBodySetForce(body, force);
};
tireUpdate = delegate(IntPtr vehicleJoint)
{
NewtonTire tire = null;
for (IntPtr tyreId = Newton.NewtonVehicleGetFirstTireID(vehicleJoint);
tyreId != IntPtr.Zero; tyreId = Newton.NewtonVehicleGetNextTireID(vehicleJoint, tyreId))
{
tire = tires[(int)GetTireID(tyreId)];
// If the tire is a front tire
if ((tire == tires[(int)TireID.FrontLeft]) || (tire == tires[(int)TireID.FrontRight]))
{
float currSteerAngle = Newton.NewtonVehicleGetTireSteerAngle(vehicleJoint, tyreId);
Newton.NewtonVehicleSetTireSteerAngle(vehicleJoint, tyreId,
currSteerAngle + (tire.Steer - currSteerAngle) * 0.035f);
}
else // if the tire is a rear tire
{
Newton.NewtonVehicleSetTireTorque(vehicleJoint, tyreId, tire.Torque);
if (tire.Brakes > 0)
{
// ask Newton for the precise acceleration needed to stop the tire
float brakeAcceleration =
Newton.NewtonVehicleTireCalculateMaxBrakeAcceleration(vehicleJoint, tyreId);
// tell Newton you want this tire stoped but only if the torque need it is less than
// the brakes pad can withstand (assume max brake pad torque is 500 newton * meter)
Newton.NewtonVehicleTireSetBrakeAcceleration(vehicleJoint, tyreId,
brakeAcceleration, 10000.0f);
// set some side slip as function of the linear speed
float speed = Newton.NewtonVehicleGetTireLongitudinalSpeed(vehicleJoint, tyreId);
Newton.NewtonVehicleSetTireMaxSideSleepSpeed(vehicleJoint, tyreId, speed * 0.1f);
}
}
}
};
bodyLeaveCallback = delegate(IntPtr body)
{
Respawn(body);
};
}
public void CreateSceneObj(string Folder, string ObjName, Vector3 ObjPos, Vector3 ObjScale)
{
GeometryNode ObjNode;
ObjNode = LoadModel("Models/" + Folder, ObjName, true);
//Setup Physics Aspecte
ObjNode.Physics.Collidable = false;
ObjNode.AddToPhysicsEngine = false;
TransformNode parentTransNode = new TransformNode(ObjName);
parentTransNode.Scale = ObjScale;
parentTransNode.Rotation = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.ToRadians(90));
parentTransNode.Translation = ObjPos;
parentTransNode.AddChild(ObjNode);
//Add Model in the Scene
parentTNodeGrd.AddChild(parentTransNode);
}
TransformNode parentTNodeGrd; //Parent for all Scene Objects
#endregion Fields
#region Constructors
public Graphics3D(MarkerNode MarkerNode, IShadowMap ShadowMap)
{
//Asignation Ground Node
this.groundMarkerNode = MarkerNode;
//Asignation Shadow Map
this.GShadowMap = ShadowMap;
//Add Big Parent for All Scenary Elements
parentTNodeGrd = new TransformNode();
parentTNodeGrd.Name = "Level";
groundMarkerNode.AddChild(parentTNodeGrd);
// Create a material for the model
BulletrMat = new Material();
BulletrMat.Diffuse = Color.Blue.ToVector4();
BulletrMat.Specular = Color.White.ToVector4();
BulletrMat.SpecularPower = 10;
//create Bullet Model
BulletModel = new TexturedBox(2.0f);
LoadLevel = false;
LoadCars = false;
}
public static GeometryNode AddModel(MarkerNode Marker, String Folder, String Model, bool IntMaterial, float Scala)
{
GeometryNode ObstNode;
if (Model == "null")
return ObstNode = new GeometryNode();
ObstNode = Graphics3D.LoadModel("Models/" + Folder, Model, IntMaterial);
//define the Physic Material name
ObstNode.Physics.MaterialName = "Obstacle";
TransformNode parentTransNode = new TransformNode();
parentTransNode.Name = Model;
parentTransNode.Scale = new Vector3(Scala, Scala + 2, Scala);
parentTransNode.Rotation = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.ToRadians(90));
//Add Rotation because Blender Axis
parentTransNode.AddChild(ObstNode);
// Add this box model node to the ground marker node
if(Marker != null)
Marker.AddChild(parentTransNode);
return ObstNode;
}
public void AddLapida(Vector3 PosCar, int LevelHeight, float Scala)
{
GeometryNode LapidaNode = LoadModel("Models", "lapida", true);
LapidaNode.Physics.Collidable = true;
TransformNode parentTransNode = new TransformNode("Lapida");
parentTransNode.Scale = new Vector3(Scala, Scala + 2, Scala);
parentTransNode.Rotation = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.ToRadians(90));
parentTransNode.Translation = new Vector3(PosCar.X, PosCar.Y, LevelHeight + 10);
//Add Rotation because Blender Axis
parentTransNode.AddChild(LapidaNode);
//Add Model in the Scene
groundMarkerNode.AddChild(parentTransNode);
}
private void CreateObject()
{
// Loads a textured model of a ship
ModelLoader loader = new ModelLoader();
Model shipModel = (Model)loader.Load("", "p1_wedge");
// Create a geometry node of a loaded ship model
GeometryNode shipNode = new GeometryNode("Ship");
shipNode.Model = shipModel;
((Model)shipNode.Model).UseInternalMaterials = true;
// Create a transform node to define the transformation for the ship
TransformNode shipTransNode = new TransformNode();
shipTransNode.Translation = new Vector3(0, 0, -50);
shipTransNode.Scale = new Vector3(0.01f, 0.01f, 0.01f); // It's huge!
shipTransNode.Rotation = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0),
MathHelper.ToRadians(90));
shipTransParentNode = new TransformNode();
shipTransParentNode.Translation = Vector3.Zero;
// Create a geometry node with model of a torus
GeometryNode torusNode = new GeometryNode("Torus");
torusNode.Model = new Torus(12f, 15.5f, 20, 20);
TransformNode torusTransNode = new TransformNode();
torusTransNode.Translation = new Vector3(-50, 0, 0);
torusTransNode.Rotation = Quaternion.CreateFromAxisAngle(Vector3.UnitX,
MathHelper.ToRadians(90));
// Create a material node for this torus model
Material torusMaterial = new Material();
torusMaterial.Diffuse = Color.DarkGoldenrod.ToVector4();
torusMaterial.Specular = Color.White.ToVector4();
torusMaterial.SpecularPower = 5;
torusNode.Material = torusMaterial;
// Now add the above nodes to the scene graph in appropriate order
scene.RootNode.AddChild(shipTransParentNode);
shipTransParentNode.AddChild(shipTransNode);
shipTransNode.AddChild(shipNode);
scene.RootNode.AddChild(torusTransNode);
torusTransNode.AddChild(torusNode);
// Now create couple of particle effects to attach to the models
// Create a smoke particle effect and fire particle effect to simulate a
// ring of fire around the torus model
#if WINDOWS_PHONE
SmokePlumeParticleEffect smokeParticles = new SmokePlumeParticleEffect(20, spriteBatch);
FireParticleEffect fireParticles = new FireParticleEffect(40, spriteBatch);
#else
SmokePlumeParticleEffect smokeParticles = new SmokePlumeParticleEffect();
FireParticleEffect fireParticles = new FireParticleEffect();
// The order defines which particle effect to render first. Since we want
// to show the fire particles in front of the smoke particles, we make
// the smoke particles to be rendered first, and then fire particles
smokeParticles.DrawOrder = 200;
fireParticles.DrawOrder = 300;
#endif
// Create a particle node to hold these two particle effects
ParticleNode fireRingEffectNode = new ParticleNode();
fireRingEffectNode.ParticleEffects.Add(smokeParticles);
fireRingEffectNode.ParticleEffects.Add(fireParticles);
// Implement an update handler for each of the particle effects which will be called
// every "Update" call
fireRingEffectNode.UpdateHandler += new ParticleUpdateHandler(UpdateRingOfFire);
torusNode.AddChild(fireRingEffectNode);
// Create another set of fire and smoke particle effects to simulate the fire
// the ship catches when the ship passes the ring of fire
#if WINDOWS_PHONE
FireParticleEffect shipFireEffect = new FireParticleEffect(150, spriteBatch);
SmokePlumeParticleEffect shipSmokeEffect = new SmokePlumeParticleEffect(80, spriteBatch);
shipFireEffect.MinScale *= 1.5f;
shipFireEffect.MaxScale *= 1.5f;
#else
FireParticleEffect shipFireEffect = new FireParticleEffect();
SmokePlumeParticleEffect shipSmokeEffect = new SmokePlumeParticleEffect();
shipSmokeEffect.DrawOrder = 400;
shipFireEffect.DrawOrder = 500;
#endif
ParticleNode shipFireNode = new ParticleNode();
shipFireNode.ParticleEffects.Add(shipFireEffect);
shipFireNode.ParticleEffects.Add(shipSmokeEffect);
shipFireNode.UpdateHandler += new ParticleUpdateHandler(UpdateShipFire);
shipNode.AddChild(shipFireNode);
}
private void CreateObject()
{
GeometryNode sphereNode = new GeometryNode("Sphere");
sphereNode.Model = new Box(60);
sphereTransNode = new TransformNode();
sphereTransNode.Translation = new Vector3(0, 0, 0);
Material sphereMaterial = new Material();
sphereMaterial.Diffuse = new Vector4(0.5f, 0, 0, 1);
sphereMaterial.Specular = Color.White.ToVector4();
sphereMaterial.SpecularPower = 10;
// Apply this material to the sphere model
sphereNode.Material = sphereMaterial;
sphereTransNode.AddChild(sphereNode);
scene.RootNode.AddChild(sphereTransNode);
}
private void createCorderBackground()
{
cornerPanelTransformNode = new TransformNode("Corner Panel Trans");
scene.RootNode.AddChild(cornerPanelTransformNode);
cornerPanelNode = new GeometryNode("Corner Panel");
cornerPanelNode.Model = new TexturedLayer(new Vector2(250, 250));//new Box(300, 250, 1);
cornerPanelTransformNode.AddChild(cornerPanelNode);
cornerPanelTransformNode.Translation = new Vector3(2.3f, -1.58f, -5);
cornerPanelTransformNode.Rotation = Quaternion.CreateFromAxisAngle(Vector3.UnitX, MathHelper.ToRadians(90));
//cornerPanelTransformNode.Translation = new Vector3(0, .06f, -1);
cornerPanelTransformNode.Scale = new Vector3(0.005f, 0.005f, 0.005f);
Material pointerLabelMaterial = new Material();
pointerLabelMaterial.Diffuse = Color.White.ToVector4(); ;// new Vector4(0, 0.5f, 0, 1);
// pointerLabelMaterial.Specular = Color.White.ToVector4();
// pointerLabelMaterial.SpecularPower = 50;
pointerLabelMaterial.Texture = Content.Load<Texture2D>("hud/cornerPanel");
cornerPanelNode.Material = pointerLabelMaterial;
//cornerPanelTransformNode.SetAlpha(0.55f);
Vector4 tempColor = cornerPanelNode.Material.Diffuse;
Vector3 tempVec = new Vector3(tempColor.X, tempColor.Y, tempColor.Z);
cornerPanelNode.Material.Diffuse = new Vector4(tempVec, 0.7f);
}
private void CreateObject()
{
// Loads a textured model of a ship
ModelLoader loader = new ModelLoader();
Model shipModel = (Model)loader.Load("", "p1_wedge");
// Create a geometry node of a loaded ship model
GeometryNode shipNode = new GeometryNode("Ship");
shipNode.Model = shipModel;
// This ship model has material definitions in the model file, so instead
// of creating a material node for this ship model, we simply use its internal materials
shipNode.Model.UseInternalMaterials = true;
// Create a transform node to define the transformation for the ship
shipTransNode = new TransformNode();
shipTransNode.Translation = new Vector3(0, 0, 0);
shipTransNode.Scale = new Vector3(0.002f, 0.002f, 0.002f); // It's huge!
shipTransNode.Rotation = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0),
MathHelper.ToRadians(0));
scene.RootNode.AddChild(shipTransNode);
shipTransNode.AddChild(shipNode);
}
private static NewtonTire CreateTire(TireID tireID, TransformNode tireTrans,
GeometryNode carNode, float gravity)
{
NewtonTire tire = new NewtonTire();
Material tireMat = new Material();
tireMat.Diffuse = Color.Orange.ToVector4();
tireMat.Specular = Color.White.ToVector4();
tireMat.SpecularPower = 10;
float tireRadius = 0.7f;
GeometryNode tireNode = new GeometryNode("Race Car " + tireID + " Tire");
tireNode.Model = new Cylinder(tireRadius, tireRadius, 0.3f, 20);
tireNode.Material = tireMat;
carNode.AddChild(tireTrans);
tireTrans.AddChild(tireNode);
tire.Mass = 5.0f;
tire.Width = 0.3f * 1.25f;
tire.Radius = tireRadius;
switch (tireID)
{
case TireID.FrontLeft:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(-1.5f, 0, -1f));
break;
case TireID.FrontRight:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(-1.5f, 0, 1f));
break;
case TireID.RearLeft:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(1.5f, 0, -1f));
break;
case TireID.RearRight:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(1.5f, 0, 1f));
break;
}
// the tire will spin around the lateral axis of the same tire space
tire.Pin = Vector3.UnitZ;
tire.SuspensionLength = RaceCar.SUSPENSION_LENGTH;
// calculate the spring and damper contact for the subquestion
//
// from the equation of a simple spring the force is given by
// a = k * x
// where k is a spring constant and x is the displacement and a is the spring acceleration.
// we desire that a rest length the acceleration generated by the spring equal that of the gravity
// several gravity forces
// m * gravity = k * SUSPENSION_LENGTH * 0.5f,
float x = RaceCar.SUSPENSION_LENGTH;
tire.SuspensionSpring = (200.0f * (float)Math.Abs(gravity)) / x;
//tireSuspesionSpring = (100.0f * dAbs (GRAVITY)) / x;
// from the equation of a simple spring / damper system
// the system resonate at a frequency
// w^2 = ks
//
// and the damping attenuation is given by
// d = ks / 2.0f
// where:
// if d = w = 2 * pi * f -> the system is critically damped
// if d > w < 2 * pi * f -> the system is super critically damped
// if d < w < 2 * pi * f -> the system is under damped damped
// for a vehicle we usually want a suspension that is about 10% super critically damped
float w = (float)Math.Sqrt(tire.SuspensionSpring);
// a critically damped suspension act too jumpy for a race car
tire.SuspensionShock = 1.0f * w;
// make it a little super critical y damped
//tireSuspesionShock = 2.0f * w;
tire.CollisionID = 0x100;
return tire;
}
private void build(IModel model, string name)
{
this.name = name;
this.instanceNumber = instance;
restrictedDimension = new Vector3(1,1,0);
geo = new GeometryNode(this.Label);
trans = new TransformNode(this.Label + "_Trans");
instance++;
trans.AddChild(geo);
geo.Model = model;
geo.Physics.Shape = GoblinXNA.Physics.ShapeType.Box;
geo.Physics.Pickable = true;
geo.AddToPhysicsEngine = true;
trans.Rotation = Quaternion.CreateFromYawPitchRoll((float)Math.PI / 2, 0, (float)Math.PI / 2);
}
private void CreateCamera()
{
// Set up the camera of the scene graph
Camera camera = new Camera();
// Put the camera at (0, 3, 7)
camera.Translation = new Vector3(0, 3, 7);
// Rotate the camera -15 degrees along the X axis
camera.Rotation = Quaternion.CreateFromAxisAngle(Vector3.UnitX,
MathHelper.ToRadians(-15));
// Set the vertical field of view to be 45 degrees
camera.FieldOfViewY = MathHelper.ToRadians(45);
// Set the near clipping plane to be 0.1f unit away from the camera
camera.ZNearPlane = 0.1f;
// Set the far clipping plane to be 1000 units away from the camera
camera.ZFarPlane = 1000;
// Set the initial translation and rotation of the generic input which controls
// the camera transform in this application
GenericInput.Instance.InitialTranslation = camera.Translation;
GenericInput.Instance.InitialRotation = camera.Rotation;
// Adjust the speed of the camera control
GenericInput.Instance.PanSpeed = 0.05f;
GenericInput.Instance.ZoomSpeed = 0.5f;
GenericInput.Instance.RotateSpeed = 0.02f;
// Now assign this camera to a camera node
CameraNode cameraNode = new CameraNode(camera);
// Add a transform node which will be updated based on GenericInput class
// which implements simple camera rotation and translation based on mouse
// drag and key presses.
// To rotate the camera, hold right mouse button and drag around
genericInputNode = new TransformNode();
scene.RootNode.AddChild(genericInputNode);
genericInputNode.AddChild(cameraNode);
// Assign the camera node to be our scene graph's current camera node
scene.CameraNode = cameraNode;
}
public static void CreateBall(MarkerNode Marker)
{
// Create a geometry node for Sphere
PrimitiveModel PsphereModel = new Sphere(15f, 20, 20);
// Create a material to apply to the sphere model
Material sphereMaterial = new Material();
sphereMaterial.Diffuse = new Vector4(0, 0.5f, 0, 1);
sphereMaterial.Specular = Color.White.ToVector4();
sphereMaterial.SpecularPower = 10;
GeometryNode sphereNode = new GeometryNode("Sphere");
//sphereNode.Model = new TexturedSphere(16, 20, 20);
sphereNode.Model = PsphereModel;
sphereNode.Material = sphereMaterial;
// Add this sphere model to the physics engine for collision detection
sphereNode.Physics.Interactable = true;
sphereNode.Physics.Collidable = true;
sphereNode.Physics.Shape = ShapeType.Sphere;
sphereNode.Physics.Mass = 30;
//sphereNode.Physics.ApplyGravity = false;
sphereNode.Physics.InitialLinearVelocity = new Vector3(30, 0, 0);
//sphereNode.Physics.MaterialName = "Sphere";
//sphereNode.Physics.ApplyGravity = true;
sphereNode.AddToPhysicsEngine = true;
// Make this sphere model cast and receive shadows
//sphereNode.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
// Assign a shadow shader for this model that uses the IShadowMap we assigned to the scene
//sphereNode.Model.Shader = new SimpleShadowShader(scene.ShadowMap);
TransformNode sphereTransNode = new TransformNode();
sphereTransNode.Translation = new Vector3(50, 0, 50);
// Now add the above nodes to the scene graph in the appropriate order.
// Note that only the nodes added below the marker node are affected by
// the marker transformation.
Marker.AddChild(sphereTransNode);
sphereTransNode.AddChild(sphereNode);
}
private void SetupMarkerTracking()
{
DirectShowCapture2 captureDevice = new DirectShowCapture2();
captureDevice.InitVideoCapture(0, FrameRate._30Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
// Add this video capture device to the scene so that it can be used for
// the marker tracker
scene.AddVideoCaptureDevice(captureDevice);
// if we're using Wrap920AR, then we need to add another capture device for
// processing stereo camera
DirectShowCapture2 captureDevice2 = null;
if (iTracker.ProductID == iWearDllBridge.IWRProductID.IWR_PROD_WRAP920)
{
captureDevice2 = new DirectShowCapture2();
captureDevice2.InitVideoCapture(1, FrameRate._30Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
scene.AddVideoCaptureDevice(captureDevice2);
// Calculate the right projection matrix using the camera intrinsic parameters for the
// right camera
((StereoCamera)scene.CameraNode.Camera).RightProjection =
ALVARDllBridge.GetCameraProjection("Wrap920_1_Right.xml", captureDevice2.Width,
captureDevice2.Height, 0.1f, 1000);
}
// Create an optical marker tracker that uses ALVAR library
ALVARMarkerTracker tracker = new ALVARMarkerTracker();
tracker.MaxMarkerError = 0.02f;
tracker.ZNearPlane = 0.1f;
tracker.ZFarPlane = 1000;
tracker.InitTracker(captureDevice.Width, captureDevice.Height, "Wrap920_1_Left.xml", markerSize);
((StereoCamera)scene.CameraNode.Camera).LeftProjection = tracker.CameraProjection;
scene.MarkerTracker = tracker;
if (iTracker.ProductID == iWearDllBridge.IWRProductID.IWR_PROD_WRAP920)
{
scene.LeftEyeVideoID = 0;
scene.RightEyeVideoID = 1;
scene.TrackerVideoID = 0;
}
else
{
scene.LeftEyeVideoID = 0;
scene.RightEyeVideoID = 0;
scene.TrackerVideoID = 0;
}
// Create a marker node to track a ground marker array.
groundMarkerNode = new MarkerNode(scene.MarkerTracker, "ALVARGroundArray.xml");
// Add a transform node to tranlate the objects to be centered around the
// marker board.
TransformNode transNode = new TransformNode();
scene.RootNode.AddChild(groundMarkerNode);
scene.ShowCameraImage = true;
}
public void CreateGroundLevel(string Folder, String Model, Vector3 ObjPos, Vector3 Scala)
{
GeometryNode groundNode;
groundNode = LoadModel("Models/" + Folder, Model, true);
//Setup Physics Aspecte
groundNode.Physics.Collidable = true;
// Make the ground model to receive shadow casted by other objects
//groundNode.Model.ShadowAttribute = ShadowAttribute.ReceiveOnly;
// Assign a shadow shader
//groundNode.Model.Shader = new SimpleShadowShader(scene.ShadowMap);
TransformNode parentTransNode = new TransformNode("ground");
parentTransNode.Scale = Scala;
parentTransNode.Rotation = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.ToRadians(90));
//Add Rotation because Blender Axis
parentTransNode.Translation = ObjPos;
parentTransNode.AddChild(groundNode);
//Add Model in the Scene
parentTNodeGrd.AddChild(parentTransNode);
}
private void CreateObjects()
{
// Create a sphere geometry
{
GeometryNode sphereNode = new GeometryNode("Sphere");
sphereNode.Model = new TexturedSphere(14, 20, 20);
sphereNode.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
sphereNode.Model.Shader = new SimpleShadowShader(scene.ShadowMap);
Material sphereMat = new Material();
sphereMat.Diffuse = Color.Red.ToVector4();
sphereMat.Specular = Color.White.ToVector4();
sphereMat.SpecularPower = 20;
sphereNode.Material = sphereMat;
TransformNode sphereTrans = new TransformNode();
sphereTrans.Translation = new Vector3(0, 0, 20);
groundMarkerNode.AddChild(sphereTrans);
sphereTrans.AddChild(sphereNode);
}
// Create a box geometry
{
GeometryNode boxNode = new GeometryNode("Box");
boxNode.Model = new TexturedBox(24);
boxNode.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
boxNode.Model.Shader = new SimpleShadowShader(scene.ShadowMap);
Material boxMat = new Material();
boxMat.Diffuse = Color.Blue.ToVector4();
boxMat.Specular = Color.White.ToVector4();
boxMat.SpecularPower = 20;
boxNode.Material = boxMat;
TransformNode boxTrans = new TransformNode();
boxTrans.Translation = new Vector3(-140, -72, 32);
groundMarkerNode.AddChild(boxTrans);
boxTrans.AddChild(boxNode);
}
// Create a cylinder geometry
{
GeometryNode cylinderNode = new GeometryNode("Cylinder");
cylinderNode.Model = new Cylinder(14, 14, 10, 20);
cylinderNode.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
Material cylinderMat = new Material();
cylinderMat.Diffuse = Color.Green.ToVector4();
cylinderMat.Specular = Color.White.ToVector4();
cylinderMat.SpecularPower = 20;
cylinderNode.Material = cylinderMat;
TransformNode cylinderTrans = new TransformNode();
cylinderTrans.Translation = new Vector3(140, -72, 32);
groundMarkerNode.AddChild(cylinderTrans);
cylinderTrans.AddChild(cylinderNode);
}
// Create a torus geometry
{
GeometryNode torusNode = new GeometryNode("Torus");
torusNode.Model = new Torus(10, 24, 20, 20);
torusNode.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
Material torusMat = new Material();
torusMat.Diffuse = Color.Yellow.ToVector4();
torusMat.Specular = Color.White.ToVector4();
torusMat.SpecularPower = 20;
torusNode.Material = torusMat;
TransformNode torusTrans = new TransformNode();
torusTrans.Translation = new Vector3(-140, 72, 32);
groundMarkerNode.AddChild(torusTrans);
torusTrans.AddChild(torusNode);
}
// Create a capsule geometry
{
GeometryNode capsuleNode = new GeometryNode("Capsule");
capsuleNode.Model = new Capsule(12, 48, 20);
capsuleNode.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
Material capsuleMat = new Material();
capsuleMat.Diffuse = Color.Cyan.ToVector4();
capsuleMat.Specular = Color.White.ToVector4();
capsuleMat.SpecularPower = 20;
capsuleNode.Material = capsuleMat;
TransformNode capsuleTrans = new TransformNode();
capsuleTrans.Translation = new Vector3(140, 72, 32);
groundMarkerNode.AddChild(capsuleTrans);
capsuleTrans.AddChild(capsuleNode);
}
}
public void CreateShootBullet(Vector3 InitPos, Vector3 DirBullet, Color BulletColor)
{
if (BulletID == 20)
return;
GeometryNode ShootBullet = new GeometryNode("ShootBullet" + BulletID++);
ShootBullet.Model = BulletModel;
BulletrMat.Diffuse = BulletColor.ToVector4();
ShootBullet.Material = BulletrMat;
ShootBullet.Physics.Interactable = true;
ShootBullet.Physics.Collidable = true;
ShootBullet.Physics.Shape = GoblinXNA.Physics.ShapeType.Box;
ShootBullet.Physics.Mass = 60f;
ShootBullet.Physics.MaterialName = "Bullet";
ShootBullet.AddToPhysicsEngine = true;
// Assign the initial velocity to this shooting box
ShootBullet.Physics.InitialLinearVelocity = new Vector3(DirBullet.X * 80, DirBullet.Y * 80, DirBullet.Z * 50);
TransformNode BulletTrans = new TransformNode();
BulletTrans.Translation = InitPos;
groundMarkerNode.AddChild(BulletTrans);
BulletTrans.AddChild(ShootBullet);
}
private void CreateObjects()
{
// Loads a textured model of a ship
ModelLoader loader = new ModelLoader();
Model shipModel = (Model)loader.Load("", "p1_wedge");
// Create a geometry node of a loaded ship model
GeometryNode shipNode = new GeometryNode("Ship");
shipNode.Model = shipModel;
// This ship model has material definitions in the model file, so instead
// of creating a material node for this ship model, we simply use its internal materials
((Model)shipNode.Model).UseInternalMaterials = true;
((Model)shipNode.Model).ContainsTransparency = true;
// Create a transform node to define the transformation for the ship
TransformNode shipTransNode = new TransformNode();
// shipTransNode.Translation = new Vector3(0, 5, -12);
shipTransNode.Scale = new Vector3(0.002f, 0.002f, 0.002f); // It's huge!
shipTransNode.Rotation = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0),
MathHelper.ToRadians(-90));
shipTransParentNode = new TransformNode();
//Set our rotation animation to ease in initially
animationRotation = new AnimationHelper(Easing.EaseIn);
startPosition = new Vector3(-10, 0, -10);
endPosition = new Vector3(5, 2, -5);
startRotationVector = new Vector3(0, 0, 0);
endRotationVector = new Vector3(MathHelper.ToRadians(0), MathHelper.ToRadians(180), MathHelper.ToRadians(180));
//Set our translation animation to ease in initially
animationTranslation = new AnimationHelper(Easing.EaseIn);
//Define what kind of interpolation to use.
animationTranslation.Animate(arrayOfTransitions[currentInterpolation], startPosition, endPosition, 2);
// animationTranslation.SetLooping(true, 5); // Use if you want to loop through an animation.
// Set an action to take place once the animation concludes.
animationTranslation.SetEndAction(delegate()
{
animationRotation.Animate(arrayOfTransitions[currentInterpolation], startRotationVector, endRotationVector, 2.0);
}); // Note: if you loop and set this animation, it'll occur after the end of the first loop, not after the end of all loops!
textToPrint = "Linear interpolation";
// Now add the above nodes to the scene graph in appropriate order
scene.RootNode.AddChild(shipTransParentNode);
shipTransParentNode.AddChild(shipTransNode);
shipTransNode.AddChild(shipNode);
}
public List<TransformNode> getListTransformNodes(Object PtID, Object EqID)
{
//create Box
GeometryNode boxNode = new GeometryNode("Box");
boxNode.Model = new Box(6);
boxNode.Model.CastShadows = true;
boxNode.Model.ReceiveShadows = true;
Material boxMat = new Material();
boxMat.Diffuse = Color.Blue.ToVector4();
boxMat.Specular = Color.White.ToVector4();
boxMat.SpecularPower = 20;
boxNode.Material = boxMat;
TransformNode boxTrans = new TransformNode();
boxTrans.Translation = new Vector3(-35, -18, 8);
boxTrans.AddChild(boxNode);
//Create cylinder
GeometryNode cylinderNode = new GeometryNode("Cylinder");
cylinderNode.Model = new Cylinder(3.5f, 3.5f, 10, 20);
cylinderNode.Model.CastShadows = true;
cylinderNode.Model.ReceiveShadows = true;
Material cylinderMat = new Material();
cylinderMat.Diffuse = Color.Green.ToVector4();
cylinderMat.Specular = Color.White.ToVector4();
cylinderMat.SpecularPower = 20;
cylinderNode.Material = cylinderMat;
TransformNode cylinderTrans = new TransformNode();
cylinderTrans.Translation = new Vector3(35, -18, 8);
cylinderTrans.AddChild(cylinderNode);
List<TransformNode> nodes = new List<TransformNode>();
nodes.Add(boxTrans);
nodes.Add(cylinderTrans);
return nodes;
}
/// <summary>
/// Creates a rope-like object by connecting several ball and socket joints.
/// </summary>
/// <param name="scene"></param>
/// <param name="parentTrans"></param>
public static void AddRope(Scene scene, TransformNode parentTrans)
{
Vector3 size = new Vector3(1.5f, 0.25f, 0.25f);
Vector3 location = new Vector3(0, 9, 0);
IPhysicsObject link0 = null;
Color[] colors = {Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue,
Color.Indigo, Color.Violet};
PrimitiveModel capsule = new Capsule(size.Y, size.X, 12);
for (int i = 0; i < 7; i++)
{
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = location;
Material linkMat = new Material();
linkMat.Diffuse = colors[i].ToVector4();
linkMat.Specular = Color.White.ToVector4();
linkMat.SpecularPower = 10;
GeometryNode link1 = new GeometryNode("Link " + i);
link1.Model = capsule;
link1.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
link1.Material = linkMat;
link1.AddToPhysicsEngine = true;
link1.Physics.Interactable = true;
link1.Physics.Collidable = true;
link1.Physics.Shape = ShapeType.Capsule;
link1.Physics.Mass = 2.0f;
link1.Physics.LinearDamping = 1f;
link1.Physics.AngularDamping = new Vector3(1f, 1f, 1f);
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(link1);
Vector3 pivot = location + parentTrans.Translation;
pivot.Y += (size.X - size.Y) * 0.5f;
BallAndSocketJoint joint = new BallAndSocketJoint(pivot);
joint.Pin = -Vector3.UnitY;
joint.MaxConeAngle = 0.0f;
joint.MaxTwistAngle = 10.0f * MathHelper.Pi / 180;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(link1.Physics, link0, joint);
link0 = link1.Physics;
location = new Vector3(location.X, location.Y
- (size.X - size.Y), location.Z);
}
}
private void CreateObjects()
{
// Create a geometry node with a model of a sphere that will be overlaid on
// top of the ground marker array
GeometryNode sphereNode = new GeometryNode("Sphere");
// We will use TexturedSphere instead of regular Box class since we will need the
// texture coordinates elements for passing the vertices to the SimpleShadowShader
// we will be using
sphereNode.Model = new TexturedSphere(16, 20, 20);
// Add this sphere model to the physics engine for collision detection
sphereNode.AddToPhysicsEngine = true;
sphereNode.Physics.Shape = ShapeType.Sphere;
// Make this sphere model cast and receive shadows
sphereNode.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
// Assign a shadow shader for this model that uses the IShadowMap we assigned to the scene
sphereNode.Model.Shader = new SimpleShadowShader(scene.ShadowMap);
// Create a marker node to track a ground marker array.
#if USE_NYARTOOLKIT
groundMarkerNode = new MarkerNode(scene.MarkerTracker, "NyARToolkitGroundArray.xml",
NyARToolkitTracker.ComputationMethod.Average);
#else
groundMarkerNode = new MarkerNode(scene.MarkerTracker, "ALVARGroundArray.xml");
#endif
TransformNode sphereTransNode = new TransformNode();
sphereTransNode.Translation = new Vector3(0, 0, 50);
// Create a material to apply to the sphere model
Material sphereMaterial = new Material();
sphereMaterial.Diffuse = new Vector4(0, 0.5f, 0, 1);
sphereMaterial.Specular = Color.White.ToVector4();
sphereMaterial.SpecularPower = 10;
sphereNode.Material = sphereMaterial;
// Now add the above nodes to the scene graph in the appropriate order.
// Note that only the nodes added below the marker node are affected by
// the marker transformation.
scene.RootNode.AddChild(groundMarkerNode);
groundMarkerNode.AddChild(sphereTransNode);
sphereTransNode.AddChild(sphereNode);
// Create a geometry node with a model of a box that will be overlaid on
// top of the ground marker array initially. (When the toolbar marker array is
// detected, it will be overlaid on top of the toolbar marker array.)
boxNode = new GeometryNode("Box");
// We will use TexturedBox instead of regular Box class since we will need the
// texture coordinates elements for passing the vertices to the SimpleShadowShader
// we will be using
boxNode.Model = new TexturedBox(32.4f);
// Add this box model to the physics engine for collision detection
boxNode.AddToPhysicsEngine = true;
boxNode.Physics.Shape = ShapeType.Box;
// Make this box model cast and receive shadows
boxNode.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
// Assign a shadow shader for this model that uses the IShadowMap we assigned to the scene
boxNode.Model.Shader = new SimpleShadowShader(scene.ShadowMap);
// Create a marker node to track a toolbar marker array.
#if USE_NYARTOOLKIT
toolbarMarkerNode = new MarkerNode(scene.MarkerTracker, "ToolbarNyARToolkit.xml",
NyARToolkitTracker.ComputationMethod.Average);
#else
toolbarMarkerNode = new MarkerNode(scene.MarkerTracker, "ALVARToolbar.xml");
#endif
scene.RootNode.AddChild(toolbarMarkerNode);
// Create a material to apply to the box model
Material boxMaterial = new Material();
boxMaterial.Diffuse = new Vector4(0.5f, 0, 0, 1);
boxMaterial.Specular = Color.White.ToVector4();
boxMaterial.SpecularPower = 10;
boxNode.Material = boxMaterial;
// Add this box model node to the ground marker node
groundMarkerNode.AddChild(boxNode);
// Create a collision pair and add a collision callback function that will be
// called when the pair collides
NewtonPhysics.CollisionPair pair = new NewtonPhysics.CollisionPair(boxNode.Physics, sphereNode.Physics);
((NewtonPhysics)scene.PhysicsEngine).AddCollisionCallback(pair, BoxSphereCollision);
}
public static void AddDoubleSwingDoors(Scene scene, TransformNode parentTrans)
{
Vector3 size = new Vector3(2.0f, 5.0f, 0.5f);
Vector3 location = new Vector3(0, 3.5f, -3);
Material linkMat = new Material();
linkMat.Diffuse = Color.Cyan.ToVector4();
linkMat.Specular = Color.White.ToVector4();
linkMat.SpecularPower = 10;
GeometryNode link1 = null;
// Make first wing
{
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = location;
link1 = new GeometryNode("Door 1");
link1.Model = new Box(size.X, size.Y, size.Z);
link1.Material = linkMat;
link1.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
link1.AddToPhysicsEngine = true;
link1.Physics.Interactable = true;
link1.Physics.Collidable = true;
link1.Physics.Shape = ShapeType.Box;
link1.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(link1);
Vector3 pivot = location + parentTrans.Translation;
Vector3 pin = Vector3.UnitY;
pivot.X += size.X * 0.5f;
pivot.Y -= size.Y * 0.5f;
HingeJoint joint = new HingeJoint(pivot, pin);
joint.NewtonHingeCallback = doubleDoor;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(link1.Physics, null, joint);
}
// Make second wing
{
location.X -= size.X;
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = location;
GeometryNode link2 = new GeometryNode("Door 2");
link2.Model = new Box(size.X, size.Y, size.Z);
link2.Material = linkMat;
link2.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
link2.AddToPhysicsEngine = true;
link2.Physics.Interactable = true;
link2.Physics.Collidable = true;
link2.Physics.Shape = ShapeType.Box;
link2.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(link2);
Vector3 pivot = location + parentTrans.Translation;
Vector3 pin = Vector3.UnitY;
pivot.X += size.X * 0.5f;
pivot.Y -= size.Y * 0.5f;
HingeJoint joint = new HingeJoint(pivot, pin);
joint.NewtonHingeCallback = doubleDoor;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(link2.Physics, link1.Physics, joint);
}
}