private void openToolStripMenuItem_Click(object sender, EventArgs e)
{
robotViewer1 = new RobotViewer();
FolderBrowserDialog browser = new FolderBrowserDialog();
if (browser.ShowDialog() == DialogResult.OK && browser.SelectedPath != null)
{
RigidNode_Base node = BXDJSkeleton.ReadSkeleton(browser.SelectedPath + @"\skeleton.bxdj");
List <RigidNode_Base> nodes = node.ListAllNodes();
List <BXDAMesh> meshes = new List <BXDAMesh>();
foreach (RigidNode_Base n in nodes)
{
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(browser.SelectedPath + "\\" + n.ModelFileName);
if (!n.GUID.Equals(mesh.GUID))
{
MessageBox.Show(n.ModelFileName + " has been modified.", "Could not load mesh.");
}
meshes.Add(mesh);
}
robotViewer1.LoadModel(node, meshes);
robotViewer1.FixLimits();
robotViewer1.HighlightAll();
Text = "Robot Viewer: " + browser.SelectedPath.Split(new char[] { '\\' }, System.StringSplitOptions.RemoveEmptyEntries)[browser.SelectedPath.Split(new char[] { '\\' }, System.StringSplitOptions.RemoveEmptyEntries).Length - 1];
}
}
/// <summary>
/// Gets ALL of the collider vertices in a mesh
/// </summary>
/// <param name="mesh"></param>
/// <returns></returns>
public static IEnumerable <Vector3> AllColliderVertices(this BXDAMesh mesh)
{
return
((from BXDAMesh.BXDASubMesh sub in mesh.colliders select sub.GetindexedVertices())
.Cast <IEnumerable <Vector3> >()
.Aggregate(Enumerable.Concat));
}
/// <summary>
/// Generates a tree from a bxda file
/// </summary>
/// <param name="meshPath">The path to the .bxda file</param>
/// <returns>The root node of the mesh tree</returns>
private BXDAEditorNode GenerateTree(BXDAMesh mesh)
{
BXDAEditorNode meshNode = new BXDAEditorNode(BXDAEditorNode.NodeType.MESH, false, mesh);
BXDAEditorNode visualSectionHeader = new BXDAEditorNode("Visual Sub-meshes", BXDAEditorNode.NodeType.INTEGER, false,
mesh.meshes.Count);
meshNode.Nodes.Add(visualSectionHeader);
generateSubMeshTree(visualSectionHeader, mesh.meshes);
BXDAEditorNode collisionSectionHeader = new BXDAEditorNode("Collision Sub-meshes", BXDAEditorNode.NodeType.INTEGER, false,
mesh.colliders.Count);
meshNode.Nodes.Add(collisionSectionHeader);
generateSubMeshTree(collisionSectionHeader, mesh.colliders);
BXDAEditorNode physicsSectionHeader = new BXDAEditorNode(String.Format("Physical Properties ({0}, cm)", _units),
BXDAEditorNode.NodeType.SECTION_HEADER, false);
meshNode.Nodes.Add(physicsSectionHeader);
physicsSectionHeader.Nodes.Add(new BXDAEditorNode("Total Mass", BXDAEditorNode.NodeType.FLOAT, true,
_units.Equals("lb") ? mesh.physics.mass * 2.205f : mesh.physics.mass));
physicsSectionHeader.Nodes.Add(new BXDAEditorNode("Center of Mass", BXDAEditorNode.NodeType.VECTOR3, true,
mesh.physics.centerOfMass.x, mesh.physics.centerOfMass.y, mesh.physics.centerOfMass.z));
return(meshNode);
}
public static List <BXDAMesh.BXDASubMesh> GetHull(BXDAMesh bMesh)
{
List <BXDAMesh.BXDASubMesh> meshes = new List <BXDAMesh.BXDASubMesh>();
foreach (BXDAMesh.BXDASubMesh mesh in bMesh.meshes)
{
List <HullVertex> RawVertices = new List <HullVertex>();
for (int i = 0; i < mesh.verts.Length; i += 3)
{
RawVertices.Add(new HullVertex(mesh.verts[i], mesh.verts[i + 1], mesh.verts[i + 2]));
}
var Hull = ConvexHull.Create(RawVertices);
var HullVertices = new List <HullVertex>();
HullVertices.AddRange(Hull.Points);
List <uint> indices = new List <uint>();
foreach (var face in Hull.Faces)
{
indices.Add((uint)HullVertices.IndexOf(face.Vertices[0]));
indices.Add((uint)HullVertices.IndexOf(face.Vertices[1]));
indices.Add((uint)HullVertices.IndexOf(face.Vertices[2]));
}
float[] verts = Array.ConvertAll(GetRawVerts(HullVertices.ToArray()), item => (float)item);
meshes.Add(ExportMeshInternal(verts, (uint)verts.Length / 3, indices.ToArray(), ((uint)indices.Count / 3)));
}
return(meshes);
}
/// <summary>
/// Load the data from a BXDAMesh into the node
/// </summary>
/// <param name="mesh">The mesh to load from</param>
public void loadMeshes(BXDAMesh mesh)
{
this.centerOfMass = mesh.physics.centerOfMass;
baseMesh = mesh;
meshTriangleCount = 0;
foreach (BXDAMesh.BXDASubMesh sub in mesh.meshes)
{
models.Add(new VBOMesh(sub));
foreach (BXDAMesh.BXDASurface surf in sub.surfaces)
{
meshTriangleCount += surf.indicies.Length / 3;
}
}
colliderTriangleCount = 0;
foreach (BXDAMesh.BXDASubMesh sub in mesh.colliders)
{
colliders.Add(new VBOMesh(sub));
foreach (BXDAMesh.BXDASurface surf in sub.surfaces)
{
colliderTriangleCount += surf.indicies.Length / 3;
}
}
}
private void reloadMesh(BXDAEditorNode meshNode)
{
foreach (BXDAEditorNode visualSubMeshNode in meshNode.Nodes[0].Nodes) //Visual Sub-meshes
{
reloadSubMesh(visualSubMeshNode);
}
foreach (BXDAEditorNode collisionSubMeshNode in meshNode.Nodes[1].Nodes) //Collision Sub-meshes
{
reloadSubMesh(collisionSubMeshNode);
}
BXDAMesh mesh = (BXDAMesh)meshNode.data[0];
//Physical properties
float mass = (float)((BXDAEditorNode)meshNode.Nodes[2].Nodes[0]).data[0];
if (_units.Equals("lb"))
{
mesh.physics.mass = mass / 2.205f;
}
else
{
mesh.physics.mass = mass;
}
mesh.physics.centerOfMass.x = (float)((BXDAEditorNode)meshNode.Nodes[2].Nodes[1]).data[0];
mesh.physics.centerOfMass.y = (float)((BXDAEditorNode)meshNode.Nodes[2].Nodes[1]).data[1];
mesh.physics.centerOfMass.z = (float)((BXDAEditorNode)meshNode.Nodes[2].Nodes[1]).data[2];
}
/// <summary>
/// Initailizes a new instance of the FieldDefinition class.
/// </summary>
/// <param name="guid"></param>
protected FieldDefinition(Guid guid, string name)
{
GUID = guid;
NodeGroup = new FieldNodeGroup(name);
propertySets = new Dictionary <string, PropertySet>();
mesh = new BXDAMesh(GUID);
}
public static List <BXDAMesh> ExportMeshes(RigidNode_Base baseNode, bool useOCL = false)
{
SurfaceExporter surfs = new SurfaceExporter();
BXDJSkeleton.SetupFileNames(baseNode, true);
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
baseNode.ListAllNodes(nodes);
SynthesisGUI.Instance.ExporterSetMeshes(nodes.Count);
List <BXDAMesh> meshes = new List <BXDAMesh>();
foreach (RigidNode_Base node in nodes)
{
SynthesisGUI.Instance.ExporterSetOverallText("Exporting " + node.ModelFileName);
if (node is RigidNode && node.GetModel() != null && node.ModelFileName != null && node.GetModel() is CustomRigidGroup)
{
Console.WriteLine("Exporting " + node.ModelFileName);
try
{
SynthesisGUI.Instance.ExporterReset();
CustomRigidGroup group = (CustomRigidGroup)node.GetModel();
surfs.Reset(node.GUID);
Console.WriteLine("Exporting meshes...");
surfs.ExportAll(group, (long progress, long total) =>
{
double totalProgress = (((double)progress / (double)total) * 100.0);
SynthesisGUI.Instance.ExporterSetSubText(String.Format("Export {1} / {2}", Math.Round(totalProgress, 2), progress, total));
SynthesisGUI.Instance.ExporterSetProgress(totalProgress);
});
Console.WriteLine();
BXDAMesh output = surfs.GetOutput();
Console.WriteLine("Output: " + output.meshes.Count + " meshes");
Console.WriteLine("Computing colliders...");
output.colliders.Clear();
output.colliders.AddRange(ConvexHullCalculator.GetHull(output));
meshes.Add(output);
}
catch (Exception e)
{
Console.WriteLine(e.ToString());
throw new Exception("Error exporting mesh: " + node.GetModelID());
}
}
SynthesisGUI.Instance.ExporterStepOverall();
}
return(meshes);
}
/// <summary>
/// Creates a Soft body from a .bxda file [NOT YET PROPERLY IMPLEMENTED?]
/// </summary>
/// <param name="filePath"></param>
/// <param name="worldInfo"></param>
public void CreateSoftBody(string filePath, SoftBodyWorldInfo worldInfo)
{
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(filePath);
List <Vector3> verts = new List <Vector3>();
//Soft body construction
verts = mesh.AllColliderVertices().ToList();
SoftBody temp = SoftBodyHelpers.CreateFromConvexHull(worldInfo, verts.ToArray());
//BulletObject = temp;
}
/// <summary>
/// Open a previously exported robot.
/// </summary>
/// <param name="validate">If it is not null, this will validate the open inventor assembly.</param>
public void OpenExisting()
{
if (SkeletonBase != null && !WarnUnsaved())
{
return;
}
string dirPath = OpenFolderPath();
if (dirPath == null)
{
return;
}
try
{
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
SkeletonBase = BXDJSkeleton.ReadSkeleton(dirPath + "\\skeleton.bxdj");
SkeletonBase.ListAllNodes(nodes);
Meshes = new List <BXDAMesh>();
foreach (RigidNode_Base n in nodes)
{
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(dirPath + "\\" + n.ModelFileName);
if (!n.GUID.Equals(mesh.GUID))
{
MessageBox.Show(n.ModelFileName + " has been modified.", "Could not load mesh.");
return;
}
Meshes.Add(mesh);
}
for (int i = 0; i < Meshes.Count; i++)
{
((OGL_RigidNode)nodes[i]).loadMeshes(Meshes[i]);
}
}
catch (Exception e)
{
MessageBox.Show(e.ToString());
}
ReloadPanels();
}
/// <summary>
/// Load the data from a BXDAMesh into the node
/// </summary>
/// <param name="mesh">The mesh to load from</param>
public void loadMeshes(BXDAMesh mesh)
{
this.centerOfMass = mesh.physics.centerOfMass;
baseMesh = mesh;
foreach (BXDAMesh.BXDASubMesh sub in mesh.meshes)
{
models.Add(new VBOMesh(sub));
}
foreach (BXDAMesh.BXDASubMesh sub in mesh.colliders)
{
colliders.Add(new VBOMesh(sub));
}
}
/// <summary>
/// Exports the BXDF and BXDA files.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Exporter_DoWork(object sender, DoWorkEventArgs e)
{
if (FilePathTextBox.Text.Length == 0 || FileNameTextBox.Text.Length == 0 || FileNameTextBox.Text.IndexOfAny(System.IO.Path.GetInvalidFileNameChars()) >= 0)
{
e.Result = "Invalid Export Parameters.";
return;
}
FieldDefinition fieldDefinition = new FieldDefinition(FileNameTextBox.Text);
SurfaceExporter exporter = new SurfaceExporter();
ComponentOccurrencesEnumerator componentOccurrences = ((AssemblyDocument)Program.INVENTOR_APPLICATION.ActiveDocument).ComponentDefinition.Occurrences.AllLeafOccurrences;
for (int i = 0; i < componentOccurrences.Count; i++)
{
progressWindow.Invoke(new Action(() =>
{
progressWindow.ProcessInfoLabel.Text = "Exporting: " + (Math.Round((i / (float)componentOccurrences.Count) * 100.0f, 2)).ToString() + "%";
progressWindow.ProcessProgressBar.Value = i;
}));
if (componentOccurrences[i + 1].Visible)
{
exporter.Reset();
exporter.Export(componentOccurrences[i + 1], false, true); // Index starts at 1?
BXDAMesh output = exporter.GetOutput();
FieldNode outputNode = new FieldNode(componentOccurrences[i + 1].Name,
CollisionObjectsView.Nodes.Find(componentOccurrences[i + 1].Name, true).Length > 0 ?
FieldNodeCollisionType.MESH : FieldNodeCollisionType.NONE);
outputNode.AddSubMeshes(output);
fieldDefinition.AddChild(outputNode);
}
}
BXDFProperties.WriteProperties(FilePathTextBox.Text + "\\" + FileNameTextBox.Text + ".bxdf", fieldDefinition);
fieldDefinition.CreateMesh();
fieldDefinition.GetMeshOutput().WriteToFile(FilePathTextBox.Text + "\\" + FileNameTextBox.Text + ".bxda");
FieldDefinition_Base copyDefinition = BXDFProperties.ReadProperties(FilePathTextBox.Text + "\\" + FileNameTextBox.Text + ".bxdf");
e.Result = "Export Successful!";
}
/// <summary>
/// Turns a BXDA mesh into a CompoundShape centered around the origin
/// </summary>
/// <param name="mesh"></param>
/// <returns></returns>
private static CompoundShape GetShape(BXDAMesh mesh)
{
CompoundShape shape = new CompoundShape();
Vector3[] meshVertices = mesh.AllColliderVertices().ToArray();
for (int i = 0; i < mesh.colliders.Count; i++)
{
BXDAMesh.BXDASubMesh sub = mesh.colliders[i];
Vector3[] vertices = sub.GetVertexData();
StridingMeshInterface sMesh = MeshUtilities.CenteredBulletShapeFromSubMesh(sub);
//Add the shape at a location relative to the compound shape such that the compound shape is centered at (0, 0) but child shapes are properly placed
shape.AddChildShape(Matrix4.CreateTranslation(MeshUtilities.MeshCenterRelative(sub, mesh)), new ConvexTriangleMeshShape(sMesh));
Console.WriteLine("Successfully created and added sub shape");
}
return(shape);
}
/// <summary>
/// The lite equivalent of the 'Start Exporter' <see cref="Button"/> in the <see cref="ExporterForm"/>. Used in <see cref="ExporterWorker_DoWork(Object, "/>
/// </summary>
/// <seealso cref="ExporterWorker_DoWork"/>
/// <param name="baseNode"></param>
/// <returns></returns>
public List <BXDAMesh> ExportMeshesLite(RigidNode_Base baseNode)
{
SurfaceExporter surfs = new SurfaceExporter();
BXDJSkeleton.SetupFileNames(baseNode, true);
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
baseNode.ListAllNodes(nodes);
List <BXDAMesh> meshes = new List <BXDAMesh>();
foreach (RigidNode_Base node in nodes)
{
SetProgressText("Exporting " + node.ModelFileName);
if (node is RigidNode && node.GetModel() != null && node.ModelFileName != null && node.GetModel() is CustomRigidGroup)
{
try
{
CustomRigidGroup group = (CustomRigidGroup)node.GetModel();
surfs.Reset(node.GUID);
surfs.ExportAll(group, (long progress, long total) =>
{
SetProgressText(String.Format("Export {0} / {1}", progress, total));
});
BXDAMesh output = surfs.GetOutput();
output.colliders.Clear();
output.colliders.AddRange(ConvexHullCalculator.GetHull(output));
meshes.Add(output);
}
catch (Exception e)
{
throw new Exception("Error exporting mesh: " + node.GetModelID(), e);
}
}
}
return(meshes);
}
private void StandaloneViewerForm_Shown(object sender, EventArgs e)
{
RigidNode_Base node = BXDJSkeleton.ReadSkeleton(LaunchParams.Path + @"\skeleton.bxdj");
List <RigidNode_Base> nodes = node.ListAllNodes();
List <BXDAMesh> meshes = new List <BXDAMesh>();
foreach (RigidNode_Base n in nodes)
{
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(LaunchParams.Path + "\\" + n.ModelFileName);
if (!n.GUID.Equals(mesh.GUID))
{
MessageBox.Show(n.ModelFileName + " has been modified.", "Could not load mesh.");
}
meshes.Add(mesh);
}
robotViewer1.LoadModel(node, meshes);
robotViewer1.FixLimits();
robotViewer1.HighlightAll();
}
/// <summary>
/// Creates a Rigid Body from a .bxda file
/// </summary>
/// <param name="FilePath"></param>
public void CreateRigidBody(string FilePath)
{
CollisionShape shape;
WheelDriverMeta wheel = null;
DefaultMotionState motion;
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(FilePath);
Vector3 loc;
Quaternion rot = Quaternion.Identity;
//Is it a wheel?
if ((wheel = GetSkeletalJoint()?.cDriver?.GetInfo <WheelDriverMeta>()) != null && true)
{
//Align the cylinders
Vector3 min, max;
GetShape(mesh).GetAabb(Matrix4.Identity, out min, out max);
Vector3 extents = max - min;
//Find the thinnest dimension, that is probably wheat the cylinder should be aligned to
if (extents.X < extents.Y) //X or Z
{
if (extents.X < extents.Z)
{
shape = new CylinderShapeX(wheel.width, wheel.radius, wheel.radius); //X
}
else
{
shape = new CylinderShapeZ(wheel.radius, wheel.radius, wheel.width); //Z
}
}
else //Y or Z
{
if (extents.Y < extents.Z)
{
shape = new CylinderShape(wheel.radius, wheel.width, wheel.radius); //Y
}
else
{
shape = new CylinderShapeZ(wheel.radius, wheel.radius, wheel.width); //Z
}
}
loc = MeshUtilities.MeshCenter(mesh);
}
//Rigid Body Construction
else
{
shape = GetShape(mesh);
loc = MeshUtilities.MeshCenter(mesh);
}
if (debug)
{
Console.WriteLine("Rotation is " + rot);
}
motion = new DefaultMotionState(Matrix4.CreateTranslation(loc + new Vector3(0, 100, 0)));
RigidBodyConstructionInfo info = new RigidBodyConstructionInfo(mesh.physics.mass, motion, shape, shape.CalculateLocalInertia(mesh.physics.mass));
//Temp?
info.Friction = 100;
info.RollingFriction = 100;
//info.AngularDamping = 0f;
//info.LinearDamping = 0.5f;
BulletObject = new RigidBody(info);
}
/// <summary>
/// Initializes physical robot based off of robot directory.
/// </summary>
/// <param name="directory">folder directory of robot</param>
/// <returns></returns>
public bool InitializeRobot(string directory, MainState source)
{
RobotIsMecanum = false;
if (RobotIsMixAndMatch)
{
wheelPath = RobotTypeManager.WheelPath;
wheelFriction = RobotTypeManager.WheelFriction;
wheelLateralFriction = RobotTypeManager.WheelLateralFriction;
wheelRadius = RobotTypeManager.WheelRadius;
wheelMass = RobotTypeManager.WheelMass;
RobotIsMecanum = RobotTypeManager.IsMecanum;
}
#region Robot Initialization
RobotDirectory = directory;
//Deletes all nodes if any exist, take the old node transforms out from the robot object
int childCount = transform.childCount;
for (int i = childCount - 1; i >= 0; i--)
{
Transform child = transform.GetChild(i);
//If this isn't done, the game object is destroyed but the parent-child transform relationship remains!
child.parent = null;
Destroy(child.gameObject);
}
//Detach and destroy all sensors on the original robot
SensorManager sensorManager = GameObject.Find("SensorManager").GetComponent <SensorManager>();
sensorManager.ResetSensorLists();
//Removes Driver Practice component if it exists
if (dpmRobot != null)
{
Destroy(dpmRobot);
}
mainState = source; //stores the main state object
transform.position = robotStartPosition; //Sets the position of the object to the set spawn point
if (!File.Exists(directory + "\\skeleton.bxdj"))
{
return(false);
}
//Loads the node and skeleton data
RigidNode_Base.NODE_FACTORY = delegate(Guid guid)
{
return(new RigidNode(guid));
};
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
rootNode = BXDJSkeleton.ReadSkeleton(directory + "\\skeleton.bxdj");
rootNode.ListAllNodes(nodes);
//Initializes the wheel variables
int numWheels = nodes.Count(x => x.HasDriverMeta <WheelDriverMeta>() && x.GetDriverMeta <WheelDriverMeta>().type != WheelType.NOT_A_WHEEL);
float collectiveMass = 0f;
//Initializes the nodes and creates joints for the robot
if (RobotIsMixAndMatch && !RobotIsMecanum) //If the user is in MaM and the robot they select is not mecanum, create the nodes and replace the wheel meshes to match those selected
{
//Load Node_0, the base of the robot
RigidNode node = (RigidNode)nodes[0];
node.CreateTransform(transform);
if (!node.CreateMesh(directory + "\\" + node.ModelFileName, true, wheelMass))
{
Debug.Log("Robot not loaded!");
return(false);
}
node.CreateJoint(numWheels, RobotIsMixAndMatch);
if (node.PhysicalProperties != null)
{
collectiveMass += node.PhysicalProperties.mass;
}
if (node.MainObject.GetComponent <BRigidBody>() != null)
{
node.MainObject.AddComponent <Tracker>().Trace = true;
}
//Get the wheel mesh data from the file they are stored in. They are stored as .bxda files. This may need to update if exporters/file types change.
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(wheelPath + "\\node_0.bxda");
List <Mesh> meshList = new List <Mesh>();
List <Material[]> materialList = new List <Material[]>();
RigidNode wheelNode = (RigidNode)BXDJSkeleton.ReadSkeleton(wheelPath + "\\skeleton.bxdj");
Material[] materials = new Material[0];
AuxFunctions.ReadMeshSet(mesh.meshes, delegate(int id, BXDAMesh.BXDASubMesh sub, Mesh meshu)
{
meshList.Add(meshu);
materials = new Material[meshu.subMeshCount];
for (int i = 0; i < materials.Length; i++)
{
materials[i] = sub.surfaces[i].AsMaterial(true);
}
materialList.Add(materials);
}, true);
//Loads the other nodes from the original robot
for (int i = 1; i < nodes.Count; i++)
{
node = (RigidNode)nodes[i];
node.CreateTransform(transform);
if (!node.CreateMesh(directory + "\\" + node.ModelFileName, true, wheelMass))
{
Debug.Log("Robot not loaded!");
return(false);
}
//If the node is a wheel, destroy the original wheel mesh and replace it with the wheels selected in MaM
if (node.HasDriverMeta <WheelDriverMeta>())
{
int chldCount = node.MainObject.transform.childCount;
for (int j = 0; j < chldCount; j++)
{
Destroy(node.MainObject.transform.GetChild(j).gameObject);
}
int k = 0;
Vector3?offset = null;
foreach (Mesh meshObject in meshList)
{
GameObject meshObj = new GameObject(node.MainObject.name + "_mesh");
meshObj.transform.parent = node.MainObject.transform;
meshObj.AddComponent <MeshFilter>().mesh = meshObject;
if (!offset.HasValue)
{
offset = meshObject.bounds.center;
}
meshObj.transform.localPosition = -offset.Value;
//Take out this line if you want some snazzy pink wheels
meshObj.AddComponent <MeshRenderer>().materials = materialList[k];
k++;
}
node.MainObject.GetComponentInChildren <MeshRenderer>().materials = materials;
}
//Create the joints that interact with physics
node.CreateJoint(numWheels, RobotIsMixAndMatch, wheelFriction, wheelLateralFriction);
if (node.HasDriverMeta <WheelDriverMeta>())
{
node.MainObject.GetComponent <BRaycastWheel>().Radius = wheelRadius;
}
if (node.PhysicalProperties != null)
{
collectiveMass += node.PhysicalProperties.mass;
}
if (node.MainObject.GetComponent <BRigidBody>() != null)
{
node.MainObject.AddComponent <Tracker>().Trace = true;
}
}
}
else //Initialize the robot as normal
{
//Initializes the nodes
foreach (RigidNode_Base n in nodes)
{
RigidNode node = (RigidNode)n;
node.CreateTransform(transform);
if (!node.CreateMesh(directory + "\\" + node.ModelFileName))
{
Debug.Log("Robot not loaded!");
return(false);
}
node.CreateJoint(numWheels, RobotIsMixAndMatch);
if (node.PhysicalProperties != null)
{
collectiveMass += node.PhysicalProperties.mass;
}
if (node.MainObject.GetComponent <BRigidBody>() != null)
{
node.MainObject.AddComponent <Tracker>().Trace = true;
}
}
}
#endregion
//Get the offset from the first node to the robot for new robot start position calculation
//This line is CRITICAL to new reset position accuracy! DON'T DELETE IT!
nodeToRobotOffset = gameObject.transform.GetChild(0).localPosition - robotStartPosition;
foreach (BRaycastRobot r in GetComponentsInChildren <BRaycastRobot>())
{
r.RaycastRobot.OverrideMass = collectiveMass;
r.RaycastRobot.RootRigidBody = (RigidBody)((RigidNode)nodes[0]).MainObject.GetComponent <BRigidBody>().GetCollisionObject();
}
RotateRobot(robotStartOrientation);
RobotName = new DirectoryInfo(directory).Name;
isInitialized = true;
//Initializes Driver Practice component
dpmRobot = gameObject.AddComponent <DriverPracticeRobot>();
dpmRobot.Initialize(directory);
//Initializing robot cameras
bool hasRobotCamera = false;
//If you are getting an error referencing this line, it is likely that the Game Object "RobotCameraList" in Scene.unity does not have the RobotCameraManager script attached to it.
robotCameraManager = GameObject.Find("RobotCameraList").GetComponent <RobotCameraManager>();
//Loop through robotCameraList and check if any existing camera should attach to this robot
foreach (GameObject robotCamera in robotCameraManager.GetRobotCameraList())
{
if (robotCamera.GetComponent <RobotCamera>().robot.Equals(this))
{
//Recover the robot camera configurations
robotCamera.GetComponent <RobotCamera>().RecoverConfiguration();
hasRobotCamera = true;
}
}
//Add new cameras to the robot if there is none robot camera belong to the current robot (which means it is a new robot)
if (!hasRobotCamera)
{
//Attached to the main frame and face the front
robotCameraManager.AddCamera(this, transform.GetChild(0).transform, new Vector3(0, 0.5f, 0), new Vector3(0, 0, 0));
////Attached to main frame and face the back
robotCameraManager.AddCamera(this, transform.GetChild(0).transform, new Vector3(0, 0.5f, 0), new Vector3(0, 180, 0));
robotCameraManager.AddCamera(this, transform.GetChild(0).transform);
}
//Reads the offset position for the manipulator
if (RobotIsMixAndMatch)
{
offset = Vector3.zero;
try
{
using (TextReader reader = File.OpenText(directory + "\\position.txt"))
{
offset.x = float.Parse(reader.ReadLine());
offset.y = float.Parse(reader.ReadLine());
offset.z = float.Parse(reader.ReadLine());
}
} catch
{
offset = Vector3.zero;
}
}
return(true);
}
public bool CreateMesh(string filePath)
{
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(filePath, null);
if (!mesh.GUID.Equals(GUID))
{
return(false);
}
List <FieldNode> remainingNodes = new List <FieldNode>(NodeGroup.EnumerateAllLeafFieldNodes());
List <KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> > submeshes = new List <KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> >();
List <KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> > colliders = new List <KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> >();
// Create all submesh objects
auxFunctions.ReadMeshSet(mesh.meshes, delegate(int id, BXDAMesh.BXDASubMesh sub, Mesh meshu)
{
submeshes.Add(new KeyValuePair <BXDAMesh.BXDASubMesh, Mesh>(sub, meshu));
});
// Create all collider objects
auxFunctions.ReadMeshSet(mesh.colliders, delegate(int id, BXDAMesh.BXDASubMesh sub, Mesh meshu)
{
colliders.Add(new KeyValuePair <BXDAMesh.BXDASubMesh, Mesh>(sub, meshu));
});
foreach (FieldNode node in NodeGroup.EnumerateAllLeafFieldNodes())
{
GameObject subObject = new GameObject(node.NodeID);
//subObject.transform.parent = unityObject.transform;
if (node.SubMeshID != -1)
{
KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> currentSubMesh = submeshes[node.SubMeshID];
BXDAMesh.BXDASubMesh sub = currentSubMesh.Key;
Mesh meshu = currentSubMesh.Value;
subObject.AddComponent <MeshFilter>().mesh = meshu;
subObject.AddComponent <MeshRenderer>();
Material[] matls = new Material[meshu.subMeshCount];
for (int i = 0; i < matls.Length; i++)
{
matls[i] = sub.surfaces[i].AsMaterial();
}
subObject.GetComponent <MeshRenderer>().materials = matls;
}
if (GetPropertySets().ContainsKey(node.PropertySetID))
{
PropertySet currentPropertySet = GetPropertySets()[node.PropertySetID];
PropertySet.PropertySetCollider psCollider = currentPropertySet.Collider;
Collider unityCollider = null;
Debug.Log(psCollider == null);
switch (psCollider.CollisionType)
{
case PropertySet.PropertySetCollider.PropertySetCollisionType.BOX:
PropertySet.BoxCollider psBoxCollider = (PropertySet.BoxCollider)psCollider;
BoxCollider unityBoxCollider = subObject.AddComponent <BoxCollider>();
//unityBoxCollider.size.Scale(new Vector3(psBoxCollider.Scale.x, psBoxCollider.Scale.y, psBoxCollider.Scale.z));
unityBoxCollider.size = new Vector3(
unityBoxCollider.size.x * psBoxCollider.Scale.x,
unityBoxCollider.size.y * psBoxCollider.Scale.y,
unityBoxCollider.size.z * psBoxCollider.Scale.z);
unityCollider = unityBoxCollider;
break;
case PropertySet.PropertySetCollider.PropertySetCollisionType.SPHERE:
PropertySet.SphereCollider psSphereCollider = (PropertySet.SphereCollider)psCollider;
SphereCollider unitySphereCollider = subObject.AddComponent <SphereCollider>();
unitySphereCollider.radius *= psSphereCollider.Scale;
unityCollider = unitySphereCollider;
break;
case PropertySet.PropertySetCollider.PropertySetCollisionType.MESH:
if (node.CollisionMeshID != -1)
{
KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> currentSubMesh = colliders[node.CollisionMeshID];
BXDAMesh.BXDASubMesh sub = currentSubMesh.Key;
Mesh meshu = currentSubMesh.Value;
MeshCollider unityMeshCollider = subObject.AddComponent <MeshCollider>();
unityMeshCollider.sharedMesh = meshu;
unityMeshCollider.convex = true;
unityCollider = unityMeshCollider;
}
break;
}
if (unityCollider != null)
{
unityCollider.material.dynamicFriction = unityCollider.material.staticFriction = currentPropertySet.Friction / 100f;
unityCollider.material.frictionCombine = PhysicMaterialCombine.Minimum;
Rigidbody rb = unityCollider.gameObject.AddComponent <Rigidbody>();
if (currentPropertySet.Mass > 0)
{
rb.mass = (float)currentPropertySet.Mass * Init.PHYSICS_MASS_MULTIPLIER;
}
else
{
rb.constraints = RigidbodyConstraints.FreezeAll;
rb.isKinematic = true;
}
}
}
// Invert the x-axis to compensate for Unity's inverted coordinate system.
subObject.transform.localScale = new Vector3(-1f, 1f, 1f);
// Set the position of the object (scaled by 1/100 to match Unity's scaling correctly).
subObject.transform.position = new Vector3(-node.Position.x * 0.01f, node.Position.y * 0.01f, node.Position.z * 0.01f);
// Set the rotation of the object (the x and w properties are inverted to once again compensate for Unity's differences).
subObject.transform.rotation = new Quaternion(-node.Rotation.X, node.Rotation.Y, node.Rotation.Z, -node.Rotation.W);
}
#region Free mesh
foreach (var list in new List <BXDAMesh.BXDASubMesh>[] { mesh.meshes, mesh.colliders })
{
foreach (BXDAMesh.BXDASubMesh sub in list)
{
sub.verts = null;
sub.norms = null;
foreach (BXDAMesh.BXDASurface surf in sub.surfaces)
{
surf.indicies = null;
}
}
for (int i = 0; i < list.Count; i++)
{
list[i] = null;
}
}
mesh = null;
GC.Collect(GC.MaxGeneration, GCCollectionMode.Forced);
#endregion
return(true);
}
/// <summary>
/// Open a previously exported robot.
/// </summary>
/// <param name="validate">If it is not null, this will validate the open inventor assembly.</param>
public bool OpenExisting(ValidationAction validate, bool warnUnsaved = false)
{
if (SkeletonBase != null && warnUnsaved && !WarnUnsaved())
{
return(false);
}
string dirPath = OpenFolderPath();
if (dirPath == null)
{
return(false);
}
try
{
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
SkeletonBase = BXDJSkeleton.ReadSkeleton(dirPath + "\\skeleton.bxdj");
if (validate != null)
{
if (!validate(SkeletonBase, out string message))
{
while (true)
{
DialogResult result = MessageBox.Show(message, "Assembly Validation", MessageBoxButtons.AbortRetryIgnore, MessageBoxIcon.Error, MessageBoxDefaultButton.Button1);
if (result == DialogResult.Retry)
{
continue;
}
if (result == DialogResult.Abort)
{
return(false);
}
break;
}
}
#region DEBUG
#if DEBUG
else
{
MessageBox.Show(message);
}
#endif
#endregion
}
SkeletonBase.ListAllNodes(nodes);
Meshes = new List <BXDAMesh>();
foreach (RigidNode_Base n in nodes)
{
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(dirPath + "\\" + n.ModelFileName);
if (!n.GUID.Equals(mesh.GUID))
{
MessageBox.Show(n.ModelFileName + " has been modified.", "Could not load mesh.");
return(false);
}
Meshes.Add(mesh);
}
}
catch (Exception e)
{
MessageBox.Show(e.ToString());
}
RMeta.UseSettingsDir = false;
RMeta.ActiveDir = dirPath;
RMeta.ActiveRobotName = dirPath.Split(new char[] { '\\' }, StringSplitOptions.RemoveEmptyEntries).Last();
ReloadPanels();
return(true);
}
/// <summary>
/// Gets the center of a sub mesh relative to the entire BXDA mesh
/// </summary>
/// <param name="subMesh"></param>
/// <param name="vertices"></param>
/// <returns></returns>
public static Vector3 MeshCenterRelative(BXDAMesh.BXDASubMesh subMesh, BXDAMesh mesh)
{
return(MeshCenter(subMesh) - MeshCenter(mesh.AllColliderVertices()));
}
/// <summary>
/// Clears the mesh structure and physical properties,
/// preparing this exporter for another set of objects.
/// </summary>
public void Reset(Guid guid)
{
outputMesh = new BXDAMesh(guid);
}
public bool CreateMesh(string filePath)
{
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(filePath, null);
if (!mesh.GUID.Equals(GUID))
{
return(false);
}
List <FieldNode> remainingNodes = new List <FieldNode>(NodeGroup.EnumerateAllLeafFieldNodes());
List <KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> > submeshes = new List <KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> >();
List <KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> > colliders = new List <KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> >();
// Create all submesh objects
AuxFunctions.ReadMeshSet(mesh.meshes, delegate(int id, BXDAMesh.BXDASubMesh sub, Mesh meshu)
{
submeshes.Add(new KeyValuePair <BXDAMesh.BXDASubMesh, Mesh>(sub, meshu));
});
// Create all collider objects
AuxFunctions.ReadMeshSet(mesh.colliders, delegate(int id, BXDAMesh.BXDASubMesh sub, Mesh meshu)
{
colliders.Add(new KeyValuePair <BXDAMesh.BXDASubMesh, Mesh>(sub, meshu));
});
foreach (FieldNode node in NodeGroup.EnumerateAllLeafFieldNodes())
{
GameObject subObject = new GameObject(node.NodeID);
subObject.transform.parent = unityObject.transform;
GameObject meshObject = new GameObject(node.NodeID + "-mesh");
if (node.SubMeshID != -1)
{
KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> currentSubMesh = submeshes[node.SubMeshID];
BXDAMesh.BXDASubMesh sub = currentSubMesh.Key;
Mesh meshu = currentSubMesh.Value;
meshObject.AddComponent <MeshFilter>().mesh = meshu;
meshObject.AddComponent <MeshRenderer>();
Material[] matls = new Material[meshu.subMeshCount];
for (int i = 0; i < matls.Length; i++)
{
matls[i] = sub.surfaces[i].AsMaterial();
}
meshObject.GetComponent <MeshRenderer>().materials = matls;
}
// Invert the x-axis to compensate for Unity's inverted coordinate system.
meshObject.transform.localScale = new Vector3(-1f, 1f, 1f);
// Set the rotation of the object (the x and w properties are inverted to once again compensate for Unity's differences).
meshObject.transform.localRotation = new Quaternion(-node.Rotation.X, node.Rotation.Y, node.Rotation.Z, -node.Rotation.W);
// Set the position of the object (scaled by 1/100 to match Unity's scaling correctly).
meshObject.transform.position = new Vector3(-node.Position.x * 0.01f, node.Position.y * 0.01f, node.Position.z * 0.01f);
if (GetPropertySets().ContainsKey(node.PropertySetID))
{
PropertySet currentPropertySet = GetPropertySets()[node.PropertySetID];
PropertySet.PropertySetCollider psCollider = currentPropertySet.Collider;
switch (psCollider.CollisionType)
{
case PropertySet.PropertySetCollider.PropertySetCollisionType.BOX:
PropertySet.BoxCollider psBoxCollider = (PropertySet.BoxCollider)psCollider;
BoxCollider dummyBoxCollider = meshObject.AddComponent <BoxCollider>();
subObject.transform.localRotation = meshObject.transform.localRotation;
subObject.transform.position = meshObject.transform.TransformPoint(dummyBoxCollider.center);
BBoxShape boxShape = subObject.AddComponent <BBoxShape>();
boxShape.Extents = new Vector3(
dummyBoxCollider.size.x * 0.5f * psBoxCollider.Scale.x,
dummyBoxCollider.size.y * 0.5f * psBoxCollider.Scale.y,
dummyBoxCollider.size.z * 0.5f * psBoxCollider.Scale.z);
//meshObject.AddComponent<MouseListener>();
UnityEngine.Object.Destroy(dummyBoxCollider);
break;
case PropertySet.PropertySetCollider.PropertySetCollisionType.SPHERE:
PropertySet.SphereCollider psSphereCollider = (PropertySet.SphereCollider)psCollider;
SphereCollider dummySphereCollider = meshObject.AddComponent <SphereCollider>();
subObject.transform.position = meshObject.transform.TransformPoint(dummySphereCollider.center);
BSphereShape sphereShape = subObject.AddComponent <BSphereShape>();
sphereShape.Radius = dummySphereCollider.radius * psSphereCollider.Scale;
//meshObject.AddComponent<MouseListener>();
UnityEngine.Object.Destroy(dummySphereCollider);
break;
case PropertySet.PropertySetCollider.PropertySetCollisionType.MESH:
PropertySet.MeshCollider psMeshCollider = (PropertySet.MeshCollider)psCollider;
if (psMeshCollider.Convex || currentPropertySet.Mass != 0)
{
MeshCollider dummyMeshCollider = subObject.AddComponent <MeshCollider>();
dummyMeshCollider.sharedMesh = meshObject.GetComponent <MeshFilter>().mesh;
subObject.transform.position = meshObject.transform.TransformPoint(dummyMeshCollider.bounds.center);
subObject.transform.rotation = meshObject.transform.rotation;
BConvexHullShape hullshape = subObject.AddComponent <BConvexHullShape>();
hullshape.HullMesh = AuxFunctions.GenerateCollisionMesh(meshObject.GetComponent <MeshFilter>().mesh, dummyMeshCollider.sharedMesh.bounds.center);
hullshape.GetCollisionShape().Margin = 0f;
//subObject.AddComponent<MouseListener>();
UnityEngine.Object.Destroy(dummyMeshCollider);
}
else
{
subObject.transform.position = meshObject.transform.position;
subObject.transform.rotation = meshObject.transform.rotation;
BBvhTriangleMeshShape meshShape = subObject.AddComponent <BBvhTriangleMeshShape>();
meshShape.HullMesh = meshObject.GetComponent <MeshFilter>().mesh.GetScaledCopy(-1f, 1f, 1f);
meshShape.GetCollisionShape().Margin = 0f;
}
// TODO: Find a way to implement embedded margins. See https://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=2358
break;
}
BRigidBody rb = subObject.AddComponent <BRigidBody>();
rb.friction = currentPropertySet.Friction * FRICTION_SCALE;
rb.mass = currentPropertySet.Mass;
if (currentPropertySet.Mass == 0)
{
rb.collisionFlags = BulletSharp.CollisionFlags.StaticObject;
}
else
{
subObject.AddComponent <Tracker>();
}
meshObject.transform.parent = subObject.transform;
}
else
{
meshObject.transform.parent = unityObject.transform;
}
}
#region Free mesh
foreach (var list in new List <BXDAMesh.BXDASubMesh>[] { mesh.meshes, mesh.colliders })
{
foreach (BXDAMesh.BXDASubMesh sub in list)
{
sub.verts = null;
sub.norms = null;
foreach (BXDAMesh.BXDASurface surf in sub.surfaces)
{
surf.indicies = null;
}
}
for (int i = 0; i < list.Count; i++)
{
list[i] = null;
}
}
mesh = null;
GC.Collect(GC.MaxGeneration, GCCollectionMode.Forced);
#endregion
return(true);
}
private void CreateMesh(string filePath)
{
Bodies = new List <RigidBody>();
VisualMeshes = new List <Mesh>();
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(filePath);
foreach (FieldNode node in NodeGroup.EnumerateAllLeafFieldNodes())
{
if (!GetPropertySets().ContainsKey(node.PropertySetID))
{
return;
}
PropertySet current = GetPropertySets()[node.PropertySetID];
CollisionShape subShape = null;
switch (current.Collider.CollisionType)
{
case PropertySet.PropertySetCollider.PropertySetCollisionType.BOX:
{
//Create a box shape
//This is a mess, though I was told that this is how it works
Vector3[] vertices = MeshUtilities.DataToVector(mesh.meshes[node.SubMeshID].verts);
StridingMeshInterface temp = MeshUtilities.BulletShapeFromSubMesh(mesh.meshes[node.SubMeshID]);
Vector3 min, max;
temp.CalculateAabbBruteForce(out min, out max);
PropertySet.BoxCollider colliderInfo = (PropertySet.BoxCollider)current.Collider;
subShape = new BoxShape((max - min) * colliderInfo.Scale.Convert() * 0.5f);
if (debug)
{
Console.WriteLine("Created Box");
}
break;
}
case PropertySet.PropertySetCollider.PropertySetCollisionType.SPHERE:
{
//Create a sphere shape
PropertySet.SphereCollider colliderInfo = (PropertySet.SphereCollider)current.Collider;
subShape = new SphereShape(colliderInfo.Scale);
if (debug)
{
Console.WriteLine("Created Sphere");
}
break;
}
case PropertySet.PropertySetCollider.PropertySetCollisionType.MESH:
{
//Create a mesh shape
if (node.CollisionMeshID == -1)
{
break;
}
PropertySet.MeshCollider colliderInfo = (PropertySet.MeshCollider)current.Collider;
Vector3[] vertices = MeshUtilities.DataToVector(mesh.colliders[node.CollisionMeshID].verts);
if (colliderInfo.Convex)
{
subShape = new ConvexHullShape(vertices);
if (debug)
{
Console.WriteLine("Created Convex Mesh");
}
}
else
{
StridingMeshInterface sMesh = MeshUtilities.BulletShapeFromSubMesh(mesh.colliders[node.CollisionMeshID]);
subShape = new ConvexTriangleMeshShape(sMesh, true); //still not really concave
if (debug)
{
Console.WriteLine("Created Concave Mesh");
}
}
break;
}
}
if (null == subShape)
{
return;
}
//set sub shape local position/rotation and add it to the compound shape
Vector3 Translation = node.Position.Convert();
Quaternion rotation = node.Rotation.Convert();
DefaultMotionState motion = new DefaultMotionState(Matrix4.CreateFromQuaternion(rotation) * Matrix4.CreateTranslation(Translation));
motion.CenterOfMassOffset = Matrix4.CreateTranslation(mesh.physics.centerOfMass.Convert());
RigidBodyConstructionInfo info = new RigidBodyConstructionInfo(current.Mass, motion, subShape, subShape.CalculateLocalInertia(current.Mass));
info.Friction = current.Friction;
Bodies.Add(new RigidBody(info));
VisualMeshes.Add(new Mesh(mesh.meshes[node.SubMeshID], Translation));
if (debug)
{
Console.WriteLine("Created " + node.PropertySetID);
}
}
}
/*
* public RigidNode(RigidNode_Base parent) : base(parent){
*
* }
*/
public bool CreateMesh(string filePath, bool isMixAndMatch = false, float wheelMass = 1.0f)
{
//Debug.Log(filePath);
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(filePath);
//if (!mesh.GUID.Equals(GUID))
//{
// Debug.Log("Returning false");
// return false;
//}
List <GameObject> meshObjects = new List <GameObject>();
Auxiliary.ReadMeshSet(mesh.meshes, delegate(int id, BXDAMesh.BXDASubMesh sub, Mesh meshu)
{
GameObject meshObject = new GameObject(MainObject.name + "_mesh");
meshObjects.Add(meshObject);
meshObject.AddComponent <MeshFilter>().mesh = meshu;
meshObject.AddComponent <MeshRenderer>();
Material[] materials = new Material[meshu.subMeshCount];
for (int i = 0; i < materials.Length; i++)
{
materials[i] = sub.surfaces[i].AsMaterial(true);
}
meshObject.GetComponent <MeshRenderer>().materials = materials;
meshObject.transform.position = root.position;
meshObject.transform.rotation = root.rotation;
}, true);
Vector3 com = mesh.physics.centerOfMass.AsV3();
ComOffset = com;
Mesh[] colliders = new Mesh[mesh.colliders.Count];
Auxiliary.ReadMeshSet(mesh.colliders, delegate(int id, BXDAMesh.BXDASubMesh sub, Mesh meshu)
{
colliders[id] = meshu;
}, true);
MainObject.transform.position = root.position + ComOffset;
MainObject.transform.rotation = root.rotation;
foreach (GameObject meshObject in meshObjects)
{
meshObject.transform.parent = MainObject.transform;
}
if (!this.HasDriverMeta <WheelDriverMeta>() || this.GetDriverMeta <WheelDriverMeta>().type == WheelType.NOT_A_WHEEL)
{
BMultiShape hullShape = MainObject.AddComponent <BMultiShape>();
foreach (Mesh collider in colliders)
{
//Mesh m = AuxFunctions.GenerateCollisionMesh(collider, Vector3.zero, 0f/*CollisionMargin*/);
//ConvexHullShape hull = new ConvexHullShape(Array.ConvertAll(m.vertices, x => x.ToBullet()), m.vertices.Length);
//hull.Margin = CollisionMargin;
//hullShape.AddHullShape(hull, BulletSharp.Math.Matrix.Translation(-ComOffset.ToBullet()));
MainObject.AddComponent <Wireframe>().Init(collider, ComOffset);
ConvexHullShape hull = new ConvexHullShape(Array.ConvertAll(collider.vertices, x => x.ToBullet()), collider.vertices.Length);
hull.Margin = CollisionMargin;
hullShape.AddShape(hull, BulletSharp.Math.Matrix.Translation(-ComOffset.ToBullet()));
}
MainObject.AddComponent <MeshRenderer>();
PhysicalProperties = mesh.physics;
//Debug.Log(PhysicalProperties.centerOfMass);
BRigidBody rigidBody = MainObject.AddComponent <BRigidBody>();
string jsonFile = Directory.GetParent(filePath).FullName + Path.DirectorySeparatorChar + "skeleton.json";
bool useJsonWeight = false;
if (File.Exists(jsonFile))
{
useJsonWeight = true;
}
float weight = mesh.physics.mass;
if (useJsonWeight)
{
try {
weight = (float)GetSkeletalJoint().weight;
} catch (Exception e) {
weight = mesh.physics.mass;
}
}
rigidBody.mass = weight;
rigidBody.friction = 0.25f;
rigidBody.linearSleepingThreshold = LinearSleepingThreshold;
rigidBody.angularSleepingThreshold = AngularSleepingThreshold;
rigidBody.RemoveOnCollisionCallbackEventHandler();
foreach (BRigidBody rb in MainObject.transform.parent.GetComponentsInChildren <BRigidBody>())
{
rigidBody.GetCollisionObject().SetIgnoreCollisionCheck(rb.GetCollisionObject(), true);
}
MainState mainState = StateMachine.SceneGlobal.FindState <MainState>();
if (mainState != null)
{
MainObject.AddComponent <BMultiCallbacks>().AddCallback(mainState.CollisionTracker);
}
}
if (this.HasDriverMeta <WheelDriverMeta>() && this.GetDriverMeta <WheelDriverMeta>().type != WheelType.NOT_A_WHEEL && GetParent() == null)
{
BRigidBody rigidBody = MainObject.GetComponent <BRigidBody>();
if (isMixAndMatch)
{
rigidBody.mass += wheelMass;
}
rigidBody.GetCollisionObject().CollisionShape.CalculateLocalInertia(rigidBody.mass);
}
#region Free mesh
foreach (var list in new List <BXDAMesh.BXDASubMesh>[] { mesh.meshes, mesh.colliders })
{
foreach (BXDAMesh.BXDASubMesh sub in list)
{
sub.verts = null;
sub.norms = null;
foreach (BXDAMesh.BXDASurface surf in sub.surfaces)
{
surf.indicies = null;
}
}
for (int i = 0; i < list.Count; i++)
{
list[i] = null;
}
}
mesh = null;
GC.Collect(GC.MaxGeneration, GCCollectionMode.Forced);
#endregion
return(true);
}
public bool CreateMesh(string filePath)
{
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(filePath);
if (!mesh.GUID.Equals(GUID))
return false;
List<GameObject> meshObjects = new List<GameObject>();
AuxFunctions.ReadMeshSet(mesh.meshes, delegate (int id, BXDAMesh.BXDASubMesh sub, Mesh meshu)
{
GameObject meshObject = new GameObject(MainObject.name + "_mesh");
meshObjects.Add(meshObject);
meshObject.AddComponent<MeshFilter>().mesh = meshu;
meshObject.AddComponent<MeshRenderer>();
Material[] materials = new Material[meshu.subMeshCount];
for (int i = 0; i < materials.Length; i++)
materials[i] = sub.surfaces[i].AsMaterial(true);
meshObject.GetComponent<MeshRenderer>().materials = materials;
meshObject.transform.position = root.position;
meshObject.transform.rotation = root.rotation;
ComOffset = meshObject.transform.GetComponent<MeshFilter>().mesh.bounds.center;
});
Mesh[] colliders = new Mesh[mesh.colliders.Count];
AuxFunctions.ReadMeshSet(mesh.colliders, delegate (int id, BXDAMesh.BXDASubMesh sub, Mesh meshu)
{
colliders[id] = meshu;
});
MainObject.transform.position = root.position + ComOffset;
MainObject.transform.rotation = root.rotation;
foreach (GameObject meshObject in meshObjects)
meshObject.transform.parent = MainObject.transform;
if (this.HasDriverMeta<WheelDriverMeta>())
{
CreateWheel();
}
else
{
BMultiHullShape hullShape = MainObject.AddComponent<BMultiHullShape>();
foreach (Mesh collider in colliders)
{
ConvexHullShape hull = new ConvexHullShape(Array.ConvertAll(collider.vertices, x => x.ToBullet()), collider.vertices.Length);
hull.Margin = 0f;
hullShape.AddHullShape(hull, BulletSharp.Math.Matrix.Translation(-ComOffset.ToBullet()));
}
}
physicalProperties = mesh.physics;
BRigidBody rigidBody = MainObject.AddComponent<BRigidBody>();
rigidBody.mass = mesh.physics.mass;
rigidBody.friction = 1f;
if (this.HasDriverMeta<WheelDriverMeta>())
UpdateWheelRigidBody();
foreach (BRigidBody rb in MainObject.transform.parent.GetComponentsInChildren<BRigidBody>())
{
rigidBody.GetCollisionObject().SetIgnoreCollisionCheck(rb.GetCollisionObject(), true);
}
if (this.HasDriverMeta<WheelDriverMeta>())
UpdateWheelMass(); // 'tis a wheel, so needs more mass for joints to work correctly.
#region Free mesh
foreach (var list in new List<BXDAMesh.BXDASubMesh>[] { mesh.meshes, mesh.colliders })
{
foreach (BXDAMesh.BXDASubMesh sub in list)
{
sub.verts = null;
sub.norms = null;
foreach (BXDAMesh.BXDASurface surf in sub.surfaces)
{
surf.indicies = null;
}
}
for (int i = 0; i < list.Count; i++)
{
list[i] = null;
}
}
mesh = null;
GC.Collect(GC.MaxGeneration, GCCollectionMode.Forced);
#endregion
return true;
}
public MeshController(Guid guid)
{
outputMesh = new BXDAMesh(guid);
}
/// <summary>
/// Gets the center of a mesh's vertices
/// </summary>
/// <param name="mesh"></param>
/// <returns></returns>
public static Vector3 MeshCenter(BXDAMesh mesh)
{
IEnumerable <Vector3> verts = mesh.AllColliderVertices();
return(verts.Aggregate(Vector3.Add) / verts.Count());
}
public bool CreateMesh(string filePath, bool multiplayer = false, bool host = false)
{
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(filePath, null);
if (!mesh.GUID.Equals(GUID))
{
return(false);
}
List <FieldNode> remainingNodes = new List <FieldNode>(NodeGroup.EnumerateAllLeafFieldNodes());
List <KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> > submeshes = new List <KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> >();
List <KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> > colliders = new List <KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> >();
// Create all submesh objects
Auxiliary.ReadMeshSet(mesh.meshes, delegate(int id, BXDAMesh.BXDASubMesh sub, Mesh meshu)
{
submeshes.Add(new KeyValuePair <BXDAMesh.BXDASubMesh, Mesh>(sub, meshu));
});
// Create all collider objects
Auxiliary.ReadMeshSet(mesh.colliders, delegate(int id, BXDAMesh.BXDASubMesh sub, Mesh meshu)
{
colliders.Add(new KeyValuePair <BXDAMesh.BXDASubMesh, Mesh>(sub, meshu));
});
//Dictionary<string, NetworkElement> networkElements = new Dictionary<string, NetworkElement>();
//foreach (NetworkElement ne in Resources.FindObjectsOfTypeAll<NetworkElement>())
// networkElements[ne.NodeID] = ne;
foreach (FieldNode node in NodeGroup.EnumerateAllLeafFieldNodes())
{
PropertySet?propertySet = null;
if (GetPropertySets().ContainsKey(node.PropertySetID))
{
propertySet = GetPropertySets()[node.PropertySetID];
}
GameObject subObject;
//if (multiplayer && propertySet.HasValue && propertySet.Value.Mass != 0)
//{
// if (host)
// {
// subObject = (GameObject)UnityEngine.Object.Instantiate(Resources.Load("prefabs/NetworkElement"), unityObject.transform);
// subObject.GetComponent<NetworkElement>().NodeID = node.NodeID;
// subObject.name = node.NodeID;
// NetworkServer.Spawn(subObject);
// }
// else
// {
// subObject = networkElements[node.NodeID].gameObject;
// subObject.name = node.NodeID;
// }
//}
//else
//{
// subObject = new GameObject(node.NodeID);
//}
subObject = new GameObject(node.NodeID);
subObject.transform.parent = unityObject.transform;
GameObject meshObject = new GameObject(node.NodeID + "-mesh");
if (node.SubMeshID != -1)
{
KeyValuePair <BXDAMesh.BXDASubMesh, Mesh> currentSubMesh = submeshes[node.SubMeshID];
BXDAMesh.BXDASubMesh sub = currentSubMesh.Key;
Mesh meshu = currentSubMesh.Value;
meshObject.AddComponent <MeshFilter>().mesh = meshu;
meshObject.AddComponent <MeshRenderer>();
Material[] matls = new Material[meshu.subMeshCount];
for (int i = 0; i < matls.Length; i++)
{
matls[i] = sub.surfaces[i].AsMaterial();
}
meshObject.GetComponent <MeshRenderer>().materials = matls;
}
// Invert the x-axis to compensate for Unity's inverted coordinate system.
meshObject.transform.localScale = new Vector3(-1f, 1f, 1f);
// Set the rotation of the object (the x and w properties are inverted to once again compensate for Unity's differences).
meshObject.transform.localRotation = new Quaternion(-node.Rotation.X, node.Rotation.Y, node.Rotation.Z, -node.Rotation.W);
// Set the position of the object (scaled by 1/100 to match Unity's scaling correctly).
meshObject.transform.position = new Vector3(-node.Position.x * 0.01f, node.Position.y * 0.01f, node.Position.z * 0.01f);
if (GetPropertySets().ContainsKey(node.PropertySetID))
{
PropertySet currentPropertySet = GetPropertySets()[node.PropertySetID];
PropertySet.PropertySetCollider psCollider = currentPropertySet.Collider;
switch (psCollider.CollisionType)
{
case PropertySet.PropertySetCollider.PropertySetCollisionType.BOX:
PropertySet.BoxCollider psBoxCollider = (PropertySet.BoxCollider)psCollider;
BoxCollider dummyBoxCollider = meshObject.AddComponent <BoxCollider>();
subObject.transform.localRotation = meshObject.transform.localRotation;
subObject.transform.position = meshObject.transform.TransformPoint(dummyBoxCollider.center);
BBoxShape boxShape = subObject.AddComponent <BBoxShape>();
boxShape.Extents = new Vector3(
dummyBoxCollider.size.x * 0.5f * psBoxCollider.Scale.x,
dummyBoxCollider.size.y * 0.5f * psBoxCollider.Scale.y,
dummyBoxCollider.size.z * 0.5f * psBoxCollider.Scale.z);
//meshObject.AddComponent<MouseListener>();
UnityEngine.Object.Destroy(dummyBoxCollider);
break;
case PropertySet.PropertySetCollider.PropertySetCollisionType.SPHERE:
PropertySet.SphereCollider psSphereCollider = (PropertySet.SphereCollider)psCollider;
SphereCollider dummySphereCollider = meshObject.AddComponent <SphereCollider>();
subObject.transform.position = meshObject.transform.TransformPoint(dummySphereCollider.center);
BSphereShape sphereShape = subObject.AddComponent <BSphereShape>();
sphereShape.Radius = dummySphereCollider.radius * psSphereCollider.Scale;
//meshObject.AddComponent<MouseListener>();
UnityEngine.Object.Destroy(dummySphereCollider);
break;
case PropertySet.PropertySetCollider.PropertySetCollisionType.MESH:
PropertySet.MeshCollider psMeshCollider = (PropertySet.MeshCollider)psCollider;
if (psMeshCollider.Convex || currentPropertySet.Mass != 0)
{
MeshCollider dummyMeshCollider = subObject.AddComponent <MeshCollider>();
dummyMeshCollider.sharedMesh = meshObject.GetComponent <MeshFilter>().mesh;
subObject.transform.position = meshObject.transform.TransformPoint(dummyMeshCollider.bounds.center);
subObject.transform.rotation = meshObject.transform.rotation;
BConvexHullShape hullshape = subObject.AddComponent <BConvexHullShape>();
hullshape.HullMesh = Auxiliary.GenerateCollisionMesh(meshObject.GetComponent <MeshFilter>().mesh, dummyMeshCollider.sharedMesh.bounds.center, 0f /*CollisionMargin*/);
hullshape.GetCollisionShape().Margin = CollisionMargin;
//subObject.AddComponent<MouseListener>();
UnityEngine.Object.Destroy(dummyMeshCollider);
}
else
{
subObject.transform.position = meshObject.transform.position;
subObject.transform.rotation = meshObject.transform.rotation;
BBvhTriangleMeshShape meshShape = subObject.AddComponent <BBvhTriangleMeshShape>();
meshShape.HullMesh = meshObject.GetComponent <MeshFilter>().mesh.GetScaledCopy(-1f, 1f, 1f);
meshShape.GetCollisionShape().Margin = CollisionMargin;
}
break;
}
BRigidBody rb = subObject.AddComponent <BRigidBody>();
rb.friction = currentPropertySet.Friction * FrictionScale;
rb.rollingFriction = currentPropertySet.Friction * RollingFrictionScale;
rb.mass = currentPropertySet.Mass;
if (currentPropertySet.Mass == 0)
{
rb.collisionFlags = BulletSharp.CollisionFlags.StaticObject;
}
else
{
subObject.AddComponent <Tracker>();
subObject.name = currentPropertySet.PropertySetID; //sets game elements to the same name as the property set - used to identify proper colliders
}
meshObject.transform.parent = subObject.transform;
}
else
{
meshObject.transform.parent = unityObject.transform;
}
}
//if (!host)
// foreach (NetworkElement ne in networkElements.Values)
// ne.gameObject.AddComponent<NetworkMesh>();
#region Free mesh
foreach (var list in new List <BXDAMesh.BXDASubMesh>[] { mesh.meshes, mesh.colliders })
{
foreach (BXDAMesh.BXDASubMesh sub in list)
{
sub.verts = null;
sub.norms = null;
foreach (BXDAMesh.BXDASurface surf in sub.surfaces)
{
surf.indicies = null;
}
}
for (int i = 0; i < list.Count; i++)
{
list[i] = null;
}
}
mesh = null;
GC.Collect(GC.MaxGeneration, GCCollectionMode.Forced);
#endregion
return(true);
}
/// <summary>
/// Clears the mesh structure and physical properties,
/// preparing this exporter for another set of objects.
/// </summary>
public void Reset()
{
outputMesh = new BXDAMesh();
}
public bool CreateMesh(string filePath)
{
Debug.Log(filePath);
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(filePath);
//if (!mesh.GUID.Equals(GUID))
//{
// Debug.Log("Returning false");
// return false;
//}
List <GameObject> meshObjects = new List <GameObject>();
AuxFunctions.ReadMeshSet(mesh.meshes, delegate(int id, BXDAMesh.BXDASubMesh sub, Mesh meshu)
{
GameObject meshObject = new GameObject(MainObject.name + "_mesh");
meshObjects.Add(meshObject);
meshObject.AddComponent <MeshFilter>().mesh = meshu;
meshObject.AddComponent <MeshRenderer>();
Material[] materials = new Material[meshu.subMeshCount];
for (int i = 0; i < materials.Length; i++)
{
materials[i] = sub.surfaces[i].AsMaterial(true);
}
meshObject.GetComponent <MeshRenderer>().materials = materials;
meshObject.transform.position = root.position;
meshObject.transform.rotation = root.rotation;
Debug.Log("Mesh Objects count " + meshObjects.Count);
}, true);
Vector3 com = mesh.physics.centerOfMass.AsV3();
com.x *= -1;
ComOffset = com;
Mesh[] colliders = new Mesh[mesh.colliders.Count];
AuxFunctions.ReadMeshSet(mesh.colliders, delegate(int id, BXDAMesh.BXDASubMesh sub, Mesh meshu)
{
colliders[id] = meshu;
}, true);
MainObject.transform.position = root.position + ComOffset;
MainObject.transform.rotation = root.rotation;
foreach (GameObject meshObject in meshObjects)
{
meshObject.transform.parent = MainObject.transform;
}
if (!this.HasDriverMeta <WheelDriverMeta>() || this.GetDriverMeta <WheelDriverMeta>().type == WheelType.NOT_A_WHEEL)
{
BMultiHullShape hullShape = MainObject.AddComponent <BMultiHullShape>();
foreach (Mesh collider in colliders)
{
ConvexHullShape hull = new ConvexHullShape(Array.ConvertAll(collider.vertices, x => x.ToBullet()), collider.vertices.Length);
hull.Margin = 0f;
hullShape.AddHullShape(hull, BulletSharp.Math.Matrix.Translation(-ComOffset.ToBullet()));
}
MainObject.AddComponent <MeshRenderer>();
PhysicalProperties = mesh.physics;
Debug.Log(PhysicalProperties.centerOfMass);
BRigidBody rigidBody = MainObject.AddComponent <BRigidBody>();
rigidBody.mass = mesh.physics.mass;
rigidBody.friction = 0.25f;
rigidBody.RemoveOnCollisionCallbackEventHandler();
((RigidBody)rigidBody.GetCollisionObject()).ActivationState = ActivationState.DisableDeactivation;
foreach (BRigidBody rb in MainObject.transform.parent.GetComponentsInChildren <BRigidBody>())
{
rigidBody.GetCollisionObject().SetIgnoreCollisionCheck(rb.GetCollisionObject(), true);
}
MainObject.AddComponent <BMultiCallbacks>().AddCallback((StateMachine.Instance.CurrentState as MainState).CollisionTracker);
}
if (this.HasDriverMeta <WheelDriverMeta>() && this.GetDriverMeta <WheelDriverMeta>().type != WheelType.NOT_A_WHEEL && GetParent() == null)
{
BRigidBody rigidBody = MainObject.GetComponent <BRigidBody>();
if (MixAndMatchMode.isMixAndMatchMode)
{
rigidBody.mass += PlayerPrefs.GetFloat("wheelMass", 1f);
}
rigidBody.GetCollisionObject().CollisionShape.CalculateLocalInertia(rigidBody.mass);
}
#region Free mesh
foreach (var list in new List <BXDAMesh.BXDASubMesh>[] { mesh.meshes, mesh.colliders })
{
foreach (BXDAMesh.BXDASubMesh sub in list)
{
sub.verts = null;
sub.norms = null;
foreach (BXDAMesh.BXDASurface surf in sub.surfaces)
{
surf.indicies = null;
}
}
for (int i = 0; i < list.Count; i++)
{
list[i] = null;
}
}
mesh = null;
GC.Collect(GC.MaxGeneration, GCCollectionMode.Forced);
#endregion
return(true);
}
