private void SavePhysicsObjectFile(ref Project project)
{
if (project != null && project.CollisionPrimitiveInfos != null)
{
if (project.CollisionPrimitiveInfos.Count > 0)
{
DialogResult dialogResult = DialogResult.None;
bool save = false;
try
{
SaveFileDialog saveFileDialog = new SaveFileDialog();
saveFileDialog.Filter = "JigLibSDX Physics Object (*.jlpo)|*.jlpo";
dialogResult = saveFileDialog.ShowDialog(this);
switch (dialogResult)
{
case DialogResult.OK:
save = true;
break;
default:
save = false;
break;
}
if (save)
{
JLC.CollisionSkin skin = new JLC.CollisionSkin();
JLG.Box box;
JLG.Sphere sphere;
JLG.Capsule capsule;
JLG.Primitive primitive;
Quaternion orientation;
Vector3 scale;
Vector3 translation;
Vector3 position;
for (int i = 0; i < project.CollisionPrimitiveInfos.Count; i++)
{
switch ((JLG.PrimitiveType)project.CollisionPrimitiveInfos[i].Primitive.Type)
{
case JLG.PrimitiveType.Box:
box = (JLG.Box)project.CollisionPrimitiveInfos[i].Primitive.Clone();
box.Orientation.Decompose(out scale, out orientation, out translation);
box.Position += Vector3.TransformCoordinate(box.SideLengths * -0.5f, Matrix.RotationQuaternion(orientation));
skin.AddPrimitive(box, project.CollisionPrimitiveInfos[i].MaterialProperties);
break;
case JLG.PrimitiveType.Sphere:
skin.AddPrimitive(project.CollisionPrimitiveInfos[i].Primitive.Clone(), project.CollisionPrimitiveInfos[i].MaterialProperties);
break;
case JLG.PrimitiveType.Capsule:
capsule = (JLG.Capsule)project.CollisionPrimitiveInfos[i].Primitive.Clone();
capsule.Orientation.Decompose(out scale, out orientation, out translation);
capsule.Position += Vector3.TransformCoordinate(new Vector3(0f, 0f, capsule.Length * -0.5f), Matrix.RotationQuaternion(orientation));
skin.AddPrimitive(capsule, project.CollisionPrimitiveInfos[i].MaterialProperties);
break;
}
}
JLU.PhysicsObjectFile.Save(saveFileDialog.FileName, true, skin, project.PrimitiveProperties, null);
}
}
catch (Exception e)
{
MessageBox.Show(this, "An error occured:\n" + e.Message, "Error", MessageBoxButtons.OK);
}
}
else
{
MessageBox.Show(this, "You need at least one primitive.", "Information", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
else
{
MessageBox.Show(this, "Create a new project first.", "Information", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
public void CalculateMassProperties()
{
CollisionSkin skin = new CollisionSkin();
#region Mass Variables
Vector3 centerOfMass;
float mass;
Matrix inertiaTensor;
Matrix inertiaTensorCoM;
#endregion
for (int i = 0; i < MaterialPrimitivePairs.Count; i++)
{
if (this.MaterialPrimitivePairs[i].MaterialID == (int)MaterialTable.MaterialID.UserDefined)
{
skin.AddPrimitive(this.MaterialPrimitivePairs[i].Primitive, this.MaterialPrimitivePairs[i].MaterialID);
}
else
{
skin.AddPrimitive(this.MaterialPrimitivePairs[i].Primitive, this.MaterialPrimitivePairs[i].MaterialProperties);
}
}
skin.GetMassProperties(PrimitiveProperties, out mass, out centerOfMass, out inertiaTensor, out inertiaTensorCoM);
skin.RemoveAllPrimitives();
_massProperties.Mass = mass;
_massProperties.CenterOfMass = centerOfMass;
_massProperties.InertiaTensor = inertiaTensor;
_massProperties.InertiaTensorCoM = inertiaTensorCoM;
}
/// <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;
}
}
private void Initialize(Primitive primitive, MaterialProperties materialProperties, PrimitiveProperties primitiveProperties, bool enableBody)
{
float mass;
Vector3 centerOfMass;
Matrix inertiaTensor;
Matrix inertiaTensorCoM;
// Set variables ...
_primitive = primitive;
_primitiveProperties = primitiveProperties;
_materialProperties = materialProperties;
// Create and link Body and CollisionSkin.
_body = new Body();
_skin = new CollisionSkin(_body);
_body.CollisionSkin = _skin;
// Add primitive to CollisionSkin.
_skin.AddPrimitive(primitive, materialProperties);
// Set body properties.
_skin.GetMassProperties(primitiveProperties, out mass, out centerOfMass, out inertiaTensor, out inertiaTensorCoM);
_body.BodyInertia = inertiaTensorCoM;
_body.Mass = mass;
// Sync CollisionSkin and Body.
_body.MoveTo(Vector3.Zero, Matrix.Identity);
_skin.ApplyLocalTransform(new Transform(-centerOfMass, Matrix.Identity));
// Enable Body.
if (enableBody)
{
_body.EnableBody();
}
else
{
_body.DisableBody();
}
}
