C# Cylinder类代码示例

        /// <summary>
        /// Constructs a new character controller with the default configuration.
        /// </summary>
        public CharacterController()
        {
            Body = new Cylinder(Vector3.Zero, 3.0f, 1.2f, 10);
            Body.IgnoreShapeChanges = true; //Wouldn't want inertia tensor recomputations to occur when crouching and such.
            Body.CollisionInformation.Shape.CollisionMargin = .1f;

            //Making the character a continuous object prevents it from flying through walls which would be pretty jarring from a player's perspective.
            Body.PositionUpdateMode = PositionUpdateMode.Continuous;
            Body.LocalInertiaTensorInverse = new Matrix3X3();

            //TODO: In v0.16.2, compound bodies would override the material properties that get set in the CreatingPair event handler.
            //In a future version where this is changed, change this to conceptually minimally required CreatingPair.
            Body.CollisionInformation.Events.DetectingInitialCollision += RemoveFriction;
            Body.LinearDamping = 0;

            SupportFinder = new SupportFinder(this);
            HorizontalMotionConstraint = new HorizontalMotionConstraint(this);
            VerticalMotionConstraint = new VerticalMotionConstraint(this);
            StepManager = new StepManager(this);
            StanceManager = new StanceManager(this);
            QueryManager = new QueryManager(this);

            //Enable multithreading for the sphere characters.
            //See the bottom of the Update method for more information about using multithreading with this character.
            IsUpdatedSequentially = false;

            PhysicsManager.Space.Add(this);
        }

    public override void ExecuteFigureCreationCommand(string[] splitFigString)
    {
        switch (splitFigString[0])
        {
            case "circle":
                {
                    Vector3D center = Vector3D.Parse(splitFigString[1]);
                    double radius = double.Parse(splitFigString[2]);

                    currentFigure = new Circle(center, radius);
                    break;
                }

            case "cylinder":
                {
                    Vector3D bottom = Vector3D.Parse(splitFigString[1]);
                    Vector3D top = Vector3D.Parse(splitFigString[2]);
                    double radius = double.Parse(splitFigString[3]);

                    currentFigure = new Cylinder(bottom, top, radius);
                    break;
                }
        }

        base.ExecuteFigureCreationCommand(splitFigString);
    }

        /// <summary>
        /// Constructs a new demo.
        /// </summary>
        /// <param name="game">Game owning this demo.</param>
        public RayCastTestDemo(DemosGame game)
            : base(game)
        {
            Space.Add(new Box(new Vector3(0, -0.5f, 0), 50, 1, 50));

            //Put whatever you'd like to ray cast here.
            var capsule = new Capsule(new Vector3(0, 1.2f, 0), 1, 0.6f);
            capsule.AngularVelocity = new Vector3(1, 1, 1);
            Space.Add(capsule);

            var cylinder = new Cylinder(new Vector3(0, 5, 0), 2, .5f);
            cylinder.AngularVelocity = new Vector3(1, -1, 1);
            Space.Add(cylinder);

            var points = new List<Vector3>();

            var random = new Random(0);
            for (int k = 0; k < 40; k++)
            {
                points.Add(new Vector3(1 * (float)random.NextDouble(), 3 * (float)random.NextDouble(), 2 * (float)random.NextDouble()));
            }
            var convexHull = new ConvexHull(new Vector3(0, 10, 0), points);
            convexHull.AngularVelocity = new Vector3(-1, 1, 1);
            Space.Add(convexHull);


            game.Camera.Position = new Vector3(-10, 5, 10);
            game.Camera.Yaw((float)Math.PI / -4f);
            game.Camera.Pitch(-(float)Math.PI / 9f);

            //Starter ray.
            origin = new Vector3(10, 5, 0);
            direction = new Vector3(-3, -1, 0);

        }

        public static void ParseQuery(string path)
        {
            using (var file = new StreamReader(path))
            {
                Cylinder[] queryCylinders = new Cylinder[Int32.Parse(file.ReadLine())];
                file.ReadLine();
                file.ReadLine();

                for (int i = 0; i < queryCylinders.Length; i++)
                {
                    Cylinder curCylinder = new Cylinder();

                    string curCylinderString = file.ReadLine();
                    uint[] curCylinderUInt = new uint[curCylinderString.Length];
                    for (int j = 0; j < curCylinderUInt.Length; j++)
                    {
                        curCylinderUInt[j] = UInt32.Parse(curCylinderString[j].ToString());
                    }
                    curCylinder.Values = CylinderTestsHelper.ConvertArrayUintToBinary(curCylinderUInt);

                    curCylinder.Angle = Double.Parse(file.ReadLine());
                    curCylinder.Norm = Double.Parse(file.ReadLine());

                    queryCylinders[i] = curCylinder;

                    file.ReadLine();
                }

                query = new Template(queryCylinders);
            }
        }

        public static void Run()
        {
            // Initialize scene object
            Scene scene = new Scene();
            
            // Initialize Node class object
            Node cubeNode = new Node("cylinder");

            // ExStart:ConvertCylinderPrimitivetoMesh
            // Initialize object by Cylinder class
            IMeshConvertible convertible = new Cylinder();
            
            // Convert a Cylinder to Mesh
            Mesh mesh = convertible.ToMesh();
            // ExEnd:ConvertCylinderPrimitivetoMesh

            // Point node to the Mesh geometry
            cubeNode.Entity = mesh;

            // Add Node to a scene
            scene.RootNode.ChildNodes.Add(cubeNode);

            // The path to the documents directory.
            string MyDir = RunExamples.GetDataDir() + RunExamples.GetOutputFilePath("CylinderToMeshScene.fbx");

            // Save 3D scene in the supported file formats
            scene.Save(MyDir, FileFormat.FBX7400ASCII);

            Console.WriteLine("\n Converted the primitive Cylinder to a mesh successfully.\nFile saved at " + MyDir);
        }

        /// <summary>
        /// Constructs a stance manager for a character.
        /// </summary>
        /// <param name="characterBody">The character's body entity.</param>
        /// <param name="crouchingHeight">Crouching height of the character.</param>
        /// <param name="proneHeight">Prone height of the character.</param>
        /// <param name="queryManager">Provider of queries used by the stance manager to test if it is okay to change stances.</param>
        /// <param name="supportFinder">Support finder used by the character.</param>
        public StanceManager(Cylinder characterBody, float crouchingHeight, float proneHeight, QueryManager queryManager, SupportFinder supportFinder)
        {
            this.QueryManager = queryManager;
            this.SupportFinder = supportFinder;
            this.characterBody = characterBody;
            standingHeight = characterBody.Height;
            if (crouchingHeight < standingHeight)
                this.crouchingHeight = crouchingHeight;
            else
                throw new ArgumentException("Crouching height must be less than standing height.");
            if (proneHeight < crouchingHeight)
                this.proneHeight = proneHeight;
            else
                throw new ArgumentException("Prone height must be less than crouching height.");

            //We can share the real shape with the query objects.
            currentQueryObject = new ConvexCollidable<CylinderShape>(characterBody.CollisionInformation.Shape);
            standingQueryObject = new ConvexCollidable<CylinderShape>(new CylinderShape(StandingHeight, characterBody.Radius) { CollisionMargin = currentQueryObject.Shape.CollisionMargin });
            crouchingQueryObject = new ConvexCollidable<CylinderShape>(new CylinderShape(CrouchingHeight, characterBody.Radius) { CollisionMargin = currentQueryObject.Shape.CollisionMargin });
            proneQueryObject = new ConvexCollidable<CylinderShape>(new CylinderShape(proneHeight, characterBody.Radius) { CollisionMargin = currentQueryObject.Shape.CollisionMargin });
            //Share the collision rules between the main body and its query objects.  That way, the character's queries return valid results.
            currentQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
            standingQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
            crouchingQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
            proneQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
        }

        void BuildStick(Vector3 position, int linkCount, out List<Bone> bones, out List<Entity> boneEntities)
        {
            //Set up a bone chain.
            bones = new List<Bone>();
            boneEntities = new List<Entity>();
            var previousBoneEntity = new Cylinder(position, 1, .2f);
            var previousBone = new Bone(previousBoneEntity.Position, previousBoneEntity.Orientation, previousBoneEntity.Radius, previousBoneEntity.Height);
            bones.Add(previousBone);
            boneEntities.Add(previousBoneEntity);

            
            for (int i = 1; i < linkCount; i++)
            {
                var boneEntity = new Cylinder(previousBone.Position + new Vector3(0, 1, 0), 1, .2f);
                var bone = new Bone(boneEntity.Position, boneEntity.Orientation, boneEntity.Radius, boneEntity.Height);
                bones.Add(bone);
                boneEntities.Add(boneEntity);

                //Make a relationship between the two bones and entities.
                CollisionRules.AddRule(previousBoneEntity, boneEntity, CollisionRule.NoBroadPhase);
                Vector3 anchor = (previousBoneEntity.Position + boneEntity.Position) / 2;
                //var dynamicsBallSocketJoint = new BallSocketJoint(previousBoneEntity, boneEntity, anchor);
                //var dynamicsAngularFriction = new NoRotationJoint(previousBoneEntity, boneEntity);
                //Space.Add(dynamicsBallSocketJoint);
                //Space.Add(dynamicsAngularFriction);
                var ballSocket = new IKBallSocketJoint(previousBone, bone, anchor);
                var angularJoint = new IKAngularJoint(previousBone, bone);

   
                previousBone = bone;
                previousBoneEntity = boneEntity;
            }
        }

    public override void ExecuteFigureCreationCommand(string[] splitFigString)
    {
        switch (splitFigString[0])
        {
            case "circle":
                {
                    Vector3D a = Vector3D.Parse(splitFigString[1]);
                    double b = double.Parse(splitFigString[2]);
                    currentFigure = new Circle(a, b);
                    break;
                }
            case "cylinder":
                {
                    Vector3D a = Vector3D.Parse(splitFigString[1]);
                    Vector3D b = Vector3D.Parse(splitFigString[2]);
                    double r = double.Parse(splitFigString[3]);
                    currentFigure = new Cylinder(a, b, r);
                    break;
                }
            default:
                {
                    base.ExecuteFigureCreationCommand(splitFigString);
                    break;
                }
        }

        this.EndCommandExecuted = false;
    }

        /// <summary>
        /// Constructs a new character controller with the most common configuration options.
        /// </summary>
        /// <param name="position">Initial position of the character.</param>
        /// <param name="height">Height of the character body while standing.</param>
        /// <param name="crouchingHeight">Height of the character body while crouching.</param>
        /// <param name="radius">Radius of the character body.</param>
        /// <param name="mass">Mass of the character body.</param>
        public CharacterController(Vector3 position, float height, float crouchingHeight, float radius, float mass)
        {
            Body = new Cylinder(position, height, radius, mass);
            Body.IgnoreShapeChanges = true; //Wouldn't want inertia tensor recomputations to occur when crouching and such.
            Body.CollisionInformation.Shape.CollisionMargin = .1f;
            //Making the character a continuous object prevents it from flying through walls which would be pretty jarring from a player's perspective.
            Body.PositionUpdateMode = PositionUpdateMode.Continuous;
            Body.LocalInertiaTensorInverse = new Matrix3X3();
            //TODO: In v0.16.2, compound bodies would override the material properties that get set in the CreatingPair event handler.
            //In a future version where this is changed, change this to conceptually minimally required CreatingPair.
            Body.CollisionInformation.Events.DetectingInitialCollision += RemoveFriction;
            Body.LinearDamping = 0;
            SupportFinder = new SupportFinder(this);
            HorizontalMotionConstraint = new HorizontalMotionConstraint(this);
            VerticalMotionConstraint = new VerticalMotionConstraint(this);
            StepManager = new StepManager(this);
            StanceManager = new StanceManager(this, crouchingHeight);
            QueryManager = new QueryManager(this);

            //Enable multithreading for the characters.
            IsUpdatedSequentially = false;
            //Link the character body to the character controller so that it can be identified by the locker.
            //Any object which replaces this must implement the ICharacterTag for locking to work properly.
            Body.CollisionInformation.Tag = new CharacterSynchronizer(Body);
        }

 public GoalPostObject(Vector3 p, Model m, int h, float r)
 {
     position = p;
     model = m;
     post1 = new Cylinder(new Vector3(p.X - 6.5f, h / 2, p.Z), h, r);
     post2 = new Cylinder(new Vector3(p.X + 6.5f, h / 2, p.Z), h, r);
 }

        public static void GenerateTemplateDb(
            int givenCylinderDbCount, int givenTemplateDbCount, int givenCylinderCellsCount)
        {
            cylinderDbCount = givenCylinderDbCount;
            templateDbCount = givenTemplateDbCount;
            cylinderCellsCount = givenCylinderCellsCount;

            db = new Cylinder[cylinderDbCount];
            templateIndices = new int[cylinderDbCount];
            templateDbLengths = new int[templateDbCount];

            for (int i = 0; i < cylinderDbCount; i++)
            {
                Cylinder curCylinder = new Cylinder();

                // For further randomness (so that cylinders don't have very similar norms)
                double curThreshold = rnd.NextDouble();

                uint[] curCylinderValues = new uint[cylinderCellsCount];
                for (int j = 0; j < cylinderCellsCount; j++)
                {
                    double x = rnd.NextDouble();
                    curCylinderValues[j] = x < curThreshold ? (uint)0 : 1; // Cast necessary? o_o
                }
                curCylinder.Values = curCylinderValues;

                curCylinder.Angle = rnd.NextDouble() * 2 * Math.PI;
                curCylinder.Norm = CylinderHelper.CalculateCylinderNorm(curCylinder.Values);

                db[i] = curCylinder;
            }

            // Thresholds again for further randomness (not a uniform distribution between templates)
            double[] templateThresholds = new double[templateDbCount - 1];
            for (int i = 0; i < templateDbCount - 1; i++)
            {
                templateThresholds[i] = rnd.NextDouble();
            }

            for (int i = 0; i < cylinderDbCount; i++)
            {
                double x = rnd.NextDouble();

                int curTemplateIndex = 0;
                for (int j = 0; j < templateDbCount - 1; j++)
                {
                    if (x > templateThresholds[j])
                    {
                        curTemplateIndex++;
                    }
                }

                templateIndices[i] = curTemplateIndex;
                templateDbLengths[curTemplateIndex]++;
            }
        }

        public static void Main(string[] args)
        {
            // Test Program for Lab401
            Circle c1 = new Circle(), c2 = new Circle(1.5, 5.0, 2), c3 = new Circle(c2);
            Console.WriteLine(c1 + "\n" + c2 + "\n" + c3);

            Cylinder cl1 = new Cylinder(), cl2 = new Cylinder(c3), cl3 = new Cylinder(1, 1, 3, 4);
            Cylinder cl4 = new Cylinder(cl3);
            Console.WriteLine(cl1 + "\n" + cl2 + "\n" + cl3 + "\n" + cl4);
        }

 static void Main()
 {
     double r = 3.0, h = 5.0;
         Shape c = new Circle(r);
         Shape s = new Sphere(r);
         Shape l = new Cylinder(r, h);
         // Display results:
         Console.WriteLine("Area of Circle   = {0:F2}", c.Area());
         Console.WriteLine("Area of Sphere   = {0:F2}", s.Area());
         Console.WriteLine("Area of Cylinder = {0:F2}", l.Area());
 }

        float upStepMargin = .1f; //There's a little extra space above the maximum step height to start the obstruction and downcast test rays.  Helps when a step is very close to the max step height.

        #endregion Fields

        #region Constructors

        /// <summary>
        /// Constructs a new step manager for a character.
        /// </summary>
        /// <param name="characterBody">The character's body.</param>
        /// <param name="contactCategorizer">Contact categorizer used by the character.</param>
        /// <param name="supportFinder">Support finder used by the character.</param>
        /// <param name="queryManager">Query provider to use in checking for obstructions.</param>
        /// <param name="horizontalMotionConstraint">Horizontal motion constraint used by the character. Source of 3d movement direction.</param>
        public StepManager(Cylinder characterBody, CharacterContactCategorizer contactCategorizer, SupportFinder supportFinder, QueryManager queryManager, HorizontalMotionConstraint horizontalMotionConstraint)
        {
            this.characterBody = characterBody;
            currentQueryObject = new ConvexCollidable<CylinderShape>(characterBody.CollisionInformation.Shape);
            ContactCategorizer = contactCategorizer;
            SupportFinder = supportFinder;
            QueryManager = queryManager;
            HorizontalMotionConstraint = horizontalMotionConstraint;
            //The minimum step height is just barely above where the character would generally find the ground.
            //This helps avoid excess tests.
            minimumUpStepHeight = CollisionDetectionSettings.AllowedPenetration * 1.1f;// Math.Max(0, -.01f + character.Body.CollisionInformation.Shape.CollisionMargin * (1 - character.SupportFinder.sinMaximumSlope));
        }

        public CylinderObject(Vector3 pos, float altura, float raio, Vector3? scale = null, float mass = 10,Matrix? orientation = null,MaterialDescription md=null)
            : base(md,mass)
        {
            if (!orientation.HasValue)
                orientation = Matrix.Identity;

            if (!scale.HasValue)
                scale = Vector3.One;

            entity = new Cylinder(pos, altura * scale.Value.Y, raio * scale.Value.X, mass);
            this.scale = scale.Value;
            entity.Orientation = Quaternion.CreateFromRotationMatrix(orientation.Value);            
        }