public static MassProperties CreateProperties(float mass, Vector3 centerOfMass, Matrix inertiaTensor, Matrix inertiaTensorCoM)
{
MassProperties newProps = new MassProperties();
newProps.Mass = mass;
newProps.CenterOfMass = centerOfMass;
newProps.InertiaTensor = inertiaTensor;
newProps.InertiaTensorCoM = inertiaTensorCoM;
return newProps;
}
/// <summary>
/// Creates a part.
/// </summary>
/// <param name="primitiveProperties">Properties of the body's shape.</param>
/// <param name="massProperties">Properties of the body's mass.</param>
/// <param name="withMainController">Adds a main BasicController for this part.</param>
public Part(JLG.PrimitiveProperties primitiveProperties, MassProperties massProperties, bool withMainController)
: base()
{
_primitiveProperties = primitiveProperties;
_massProperties = massProperties;
if (withMainController)
{
// Create Main Controller
_mainController = new BasicController(this);
if (PhysicsSystem.CurrentPhysicsSystem != null)
{
PhysicsSystem.CurrentPhysicsSystem.AddController(_mainController);
}
}
_relatedControllers = new Hashtable();
}
/// <summary>
/// Saves all needed information to recreate an physics world object.
/// </summary>
/// <param name="filePath"></param>
/// <param name="overwrite"></param>
/// <param name="skin"></param>
/// <param name="primitiveProperties"></param>
/// <param name="massProperties">"Null" will cause re-calculation of the mass properties. If you are saving loaded data: Re-calc might cause data loss!</param>
/// <returns></returns>
public static bool Save(string filePath, bool overwrite, CollisionSkin skin, PrimitiveProperties primitiveProperties, MassProperties? massProperties)
{
if (!File.Exists(filePath) || (File.Exists(filePath) && overwrite))
{
PhysicsObjectData data = new PhysicsObjectData();
data.SetPrimitiveProperties(primitiveProperties);
for (int i = 0; i < skin.NumPrimitives; i++)
{
data.Add(skin.GetPrimitiveLocal(i), skin.GetMaterialID(i), skin.GetMaterialProperties(i));
}
if (massProperties.HasValue)
{
data.MassProperties = massProperties.Value;
}
else
{
data.CalculateMassProperties();
}
XmlSerializer xmlSerializer = new XmlSerializer(typeof(PhysicsObjectData));
TextWriter textWriter = new StreamWriter(filePath);
xmlSerializer.Serialize(textWriter, data);
textWriter.Close();
return true;
}
else
{
MessageBox.Show("Can't write to file \"" + filePath + "\".", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return false;
}
}
/// <summary>
/// Loads a physics world object.
/// </summary>
/// <param name="filePath"></param>
/// <param name="skin"></param>
/// <param name="body"></param>
/// <param name="massProperties"></param>
/// <returns></returns>
public static bool Load(string filePath, out CollisionSkin skin, out Body body, out PrimitiveProperties primitiveProperties, out MassProperties massProperties)
{
skin = null;
body = null;
primitiveProperties = new PrimitiveProperties(PrimitiveProperties.MassDistributionEnum.Solid, PrimitiveProperties.MassTypeEnum.Mass, 0.001f);
massProperties = MassProperties.Zero;
if (File.Exists(filePath))
{
XmlSerializer xmlSerializer = new XmlSerializer(typeof(PhysicsObjectData));
TextReader textReader = new StreamReader(filePath);
PhysicsObjectData data = (PhysicsObjectData)xmlSerializer.Deserialize(textReader);
textReader.Close();
if (data != null && data.MaterialPrimitivePairs != null && data.MaterialPrimitivePairs.Count > 0)
{
body = new JigLibSDX.Physics.Body();
skin = new JigLibSDX.Collision.CollisionSkin(body);
body.CollisionSkin = skin;
primitiveProperties = data.PrimitiveProperties;
for (int i = 0; i < data.MaterialPrimitivePairs.Count; i++)
{
if (data.MaterialPrimitivePairs[i].MaterialID == (int)MaterialTable.MaterialID.UserDefined)
{
skin.AddPrimitive(data.MaterialPrimitivePairs[i].Primitive, data.MaterialPrimitivePairs[i].MaterialID);
}
else
{
skin.AddPrimitive(data.MaterialPrimitivePairs[i].Primitive, data.MaterialPrimitivePairs[i].MaterialProperties);
}
}
massProperties = data.MassProperties;
body.BodyInertia = massProperties.InertiaTensorCoM;
body.Mass = massProperties.Mass;
body.MoveTo(Vector3.Zero, Matrix.Identity);
skin.ApplyLocalTransform(new Transform(-massProperties.CenterOfMass, Matrix.Identity));
body.EnableBody();
}
return true;
}
else
{
MessageBox.Show("File \"" + filePath + "\" not found.", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return false;
}
}
