public PlaneBody( Vector3f normal, float distanceToOrigin )
: this(new Plane3f( normal, distanceToOrigin ))
{
}
public Vector3f getDisplacement ( Vector3f target ) {
return new Vector3f( target.X - TranslationX, target.Y - TranslationY, target.Z - TranslationZ );
}
public float translationDistance ( Vector3f v ) {
return Vector3f.distance(
TranslationX, TranslationY, TranslationZ,
v.X, v.Y, v.Z
);
}
public void applyImpulse( Vector3f impulse )
{
velocity.add( impulse.getScaled( 1 / Mass ) );
}
protected internal Vector3f getForce()
{
Vector3f v3f = new Vector3f( Acceleration );
v3f.scale( Mass );
return v3f;
}
public Vector3f cross( Vector3f vector )
{
return new Vector3f( cross( data, vector.data ) );
}
public void applyForce( Vector3f force )
{
acceleration.add( force.getScaled( 1 / Mass ) );
}
public Vector3f( Vector3f vector )
: base(vector)
{
}
public Vector3f getNormal( Vector3f v1, Vector3f v2 )
{
return new Vector3f( getNormal( data, v1.data, v2.data ) );
}
protected override void OnLoad( System.EventArgs e )
{
lastMouseState = OpenTK.Input.Mouse.GetState();
Texture angrySquirrelTexture, angryTurtleTexture, angryDilloTexture;
Texture[] worldTextures;
Mesh squirrelMesh, turtleMesh, dilloMesh;
RectangleMesh[] worldMeshes;
float aspectRatio = ClientSize.Width / (float) ( ClientSize.Height );
projectionMatrix.set( Matrix4.CreatePerspectiveFieldOfView( (float) Math.PI / 4, aspectRatio, 1, 1000 ) );
cameraOnFrame = delegate( Matrix4f mvMatrix ) {
float radius = 40, y = 20, timeRatio = 0.5f;
Vector3 pos = new Vector3(
(float) Math.Sin( time.Value * timeRatio ) * radius,
y,
(float) Math.Cos( time.Value * timeRatio ) * radius );
mvMatrix.set( Matrix4.LookAt( pos, new Vector3( 0, y * 0.5f * ( 1.5f + (float) Math.Sin( time.Value * timeRatio ) ), 0 ), new Vector3( 0, 1, 0 ) ) );
};
cameraOnFrame( modelviewMatrix );
cameraOnFrame = null; // enable/disable
ambientColor.set( 0.4f, 0.4f, 0.4f );
lightColor.set( 1.0f, 1.0f, 1.0f );
lightDirUnit.set( 0.5f, 1.0f, 0.5f );
//lightDirUnit.set( 0.1f, 5.0f, 0.1f );
lightDirUnit.normalize();
//texture = new Texture( "E:\\drop\\logo-dark.jpg" );
angrySquirrelTexture = new Texture( "gfx/angry-squirrel.png" );
angryTurtleTexture = new Texture( "gfx/angry-turtle.png" );
angryDilloTexture = new Texture( "gfx/angry-armadillo.png" );
worldTextures = new Texture[] {
new Texture( "gfx/drzewka-1.png" ),
new Texture( "gfx/drzewka-3.png" ),
new Texture( "gfx/sky.png" ),
new Texture( "gfx/grass.png" ),
new Texture( "gfx/drzewka-2.png" ),
new Texture( "gfx/drzewka-4.png" )
};
CreateShaders();
squirrelMesh = new SphereMesh( BALL_RADIUS, 20, 20, true );
squirrelMesh.Texture = angrySquirrelTexture;
/*
squirrelMesh.UpdateAction = delegate( Mesh model ) {
Matrix4f transform = model.Transform;
transform.setScaleAndRotation( Matrix4.CreateRotationZ( time.Value ) );
//transform.setTranslationY( BALL_RADIUS + JUMP_HEIGHT * 0.5f * (1 + (float) Math.Sin( time.Value )) ); // hover
//transform.setTranslationY( BALL_RADIUS + JUMP_HEIGHT * (float) Math.Abs( Math.Sin( time.Value ) ) ); // hover
};
squirrelMesh.UpdateAction( squirrelMesh );
*/
//sm.writeOBJ();
meshes.Add( squirrelMesh );
turtleMesh = new SphereMesh( BALL_RADIUS * 5, 10, 10, true );
turtleMesh.Texture = angryTurtleTexture;
/*
turtleMesh.UpdateAction = delegate( Mesh model ) {
Matrix4f transform = model.Transform;
transform.setScaleAndRotation( Matrix4.CreateRotationX( -time.Value ) );
};
turtleMesh.UpdateAction( turtleMesh );
*/
meshes.Add( turtleMesh );
dilloMesh = new SphereMesh( BALL_RADIUS * 2, 20, 20, true );
dilloMesh.Texture = angryDilloTexture;
/*
dilloMesh.UpdateAction = delegate( Mesh model ) {
Matrix4f transform = model.Transform;
transform.setScaleAndRotation( Matrix4.CreateRotationX( -time.Value ) );
};
dilloMesh.UpdateAction( dilloMesh );
*/
meshes.Add( dilloMesh );
float boxX = 100, boxY = 50, boxZ = 100, shiftX = 0.5f * boxX, shiftY = 0.5f * boxY, shiftZ = 0.5f * boxZ;
worldMeshes = new RectangleMesh[] {
new RectangleMesh( Vector3f.OZ, boxX, boxY ),
new RectangleMesh( Vector3f.OZ, boxX, -boxY ),
new RectangleMesh( Vector3f.OY, boxX, boxZ ),
new RectangleMesh( Vector3f.OY, -boxX, boxZ ),
new RectangleMesh( Vector3f.OZ, -boxX, boxY ),
new RectangleMesh( Vector3f.OZ, boxX, boxY )
};
for ( int i = worldMeshes.Length - 1; i >= 0; i-- ) {
Mesh m = worldMeshes[i];
m.Texture = worldTextures[i];
meshes.Add( m );
}
Matrix4f trans;
trans = worldMeshes[0].Transform;
trans.setZero();
trans.Data[2] = 1;
trans.Data[5] = 1;
trans.Data[8] = 1;
trans.Data[15] = 1;
trans.setTranslation( shiftX, shiftY, 0 );
trans = worldMeshes[1].Transform;
trans.setZero();
trans.Data[2] = -1;
trans.Data[5] = -1;
trans.Data[8] = -1;
trans.Data[15] = 1;
worldMeshes[1].Transform.setTranslation( -shiftX, shiftY, 0 );
worldMeshes[2].Transform.setTranslation( 0, boxY, 0 );
worldMeshes[3].Transform.setTranslation( 0, 0, 0 );
worldMeshes[4].Transform.setTranslation( 0, shiftY, shiftZ );
worldMeshes[5].Transform.setTranslation( 0, shiftY, -shiftZ );
foreach ( Mesh m in meshes ) {
m.init();
}
//bodyManager.Gravity.setZero();
/*SphereBody*/
squirrelBody = new SphereBody( 1, BALL_RADIUS );
squirrelBody.Transform.setTranslation( 40, 40, 40 );
squirrelBody.RotationSpeed = 1f;
/*SphereBody*/
turtleBody = new SphereBody( 25, BALL_RADIUS * 5 );
turtleBody.Transform.setTranslation( 0, 20, 0 );
//turtleBody.Velocity.Y = 5;
turtleBody.RotationSpeed = 1f;
/*SphereBody*/
dilloBody = new SphereBody( 25, BALL_RADIUS * 2 );
//dilloBody.Transform.setTranslation( -20, 100, -30 );
dilloBody.Transform.setTranslation( 0, 30, 0 );
//dilloBody.Velocity.Y = -5;
dilloBody.RotationSpeed = 1f;
Vector3f fixPoint = new Vector3f( 0, 42, 9 );
/*
// spring - vertical harmonic oscillator
dilloBody.Forces.Add( delegate( Body obj ) {
Vector3f disp = obj.Transform.getDisplacement( fixPoint );
float k = 20.0f;
disp.scale( k );
obj.applyForce( disp );
} );
*/
// springy pendulum - 3D harmonic oscillator
dilloBody.Forces.Add( delegate( Body obj ) {
Vector3f disp = obj.Transform.getDisplacement( fixPoint );
float k = 10.0f, l = 15.0f;
disp.scale( k * ( disp.length() - l ) );
obj.applyForce( disp );
} );
planeBodies = new PlaneBody[] {
new PlaneBody( new Plane3f( new Vector3f( 0, 1, 0 ), 0 ) ),
new PlaneBody( new Plane3f( new Vector3f( 0, -1, 0 ), boxY ) ),
new PlaneBody( new Plane3f( new Vector3f( 1, 0, 0 ), shiftX ) ),
new PlaneBody( new Plane3f( new Vector3f( -1, 0, 0 ), shiftX ) ),
new PlaneBody( new Plane3f( new Vector3f( 0, 0, 1 ), shiftZ ) ),
new PlaneBody( new Plane3f( new Vector3f( 0, 0, -1 ), shiftZ ) )
};
foreach ( PlaneBody pb in planeBodies ) {
pb.Friction = 0.1f;
bodyManager.addBody( pb );
}
bodyManager.addBody( squirrelBody, squirrelMesh );
bodyManager.addBody( turtleBody, turtleMesh );
bodyManager.addBody( dilloBody, dilloMesh );
VSync = VSyncMode.On;
}
public float getDistance( Vector3f point )
{
return Normal.dot( point ) + DistanceToOrigin;
}
public Plane3f( Vector3f normal, float distanceToOrigin )
{
Normal = normal;
DistanceToOrigin = distanceToOrigin;
}