public PxGhRigidStaticCMesh(Plane plane, List <Mesh> meshes, Material material)
{
ghMeshes = new List <GH_Mesh>();
List <Mesh> initialMeshes = new List <Mesh>(meshes);
actor = PhysXManager.Physics.CreateRigidStatic();
foreach (Mesh initialMesh in initialMeshes)
{
Mesh meshLocal = initialMesh.DuplicateMesh();
meshLocal.Transform(Transform.PlaneToPlane(plane, Plane.WorldXY));
List <Vector3> points = new List <Vector3>();
foreach (Point3d v in meshLocal.Vertices)
{
points.Add(new Vector3((float)v.X, (float)v.Y, (float)v.Z));
}
List <int> faceVertexIndices = new List <int>();
foreach (MeshFace face in meshLocal.Faces)
{
faceVertexIndices.Add(face.A);
faceVertexIndices.Add(face.B);
faceVertexIndices.Add(face.C);
}
ConvexMeshDesc convexMeshDescription = new ConvexMeshDesc();
convexMeshDescription.Flags = ConvexFlag.ComputeConvex;
convexMeshDescription.SetPositions(points.ToArray());
convexMeshDescription.SetTriangles(faceVertexIndices.ToArray());
MemoryStream memoryStream = new MemoryStream();
PhysXManager.Physics.CreateCooking().CookConvexMesh(convexMeshDescription, memoryStream);
memoryStream.Position = 0;
ConvexMesh convexMesh = PhysXManager.Physics.CreateConvexMesh(memoryStream);
ConvexMeshGeometry convexMeshGeometry = new ConvexMeshGeometry(convexMesh);
actor.CreateShape(convexMeshGeometry, material);
ghMeshes.Add(new GH_Mesh(meshLocal));
}
actor.GlobalPose = plane.ToMatrix();
}
public PxGhRigidDynamiCompoundConvexMesh(List <Mesh> meshes, Plane frame, Material material, float mass, Vector3d initialLinearVelocity, Vector3d initialAngularVelocity)
: base(frame, initialLinearVelocity, initialAngularVelocity)
{
DisplayMeshes = new List <Mesh>(meshes);
foreach (Mesh mesh in DisplayMeshes)
{
mesh.Transform(Transform.PlaneToPlane(frame, Plane.WorldXY));
Vector3[] vertices = new Vector3[mesh.Vertices.Count];
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = mesh.Vertices[i].ToSystemVector();
}
int[] faceVertexIndices = new int[mesh.Faces.Count * 3];
for (int i = 0; i < mesh.Faces.Count; i++)
{
MeshFace face = mesh.Faces[i];
faceVertexIndices[3 * i + 0] = face.A;
faceVertexIndices[3 * i + 1] = face.B;
faceVertexIndices[3 * i + 2] = face.C;
}
ConvexMeshDesc convexMeshDescription = new ConvexMeshDesc();
convexMeshDescription.Flags = ConvexFlag.ComputeConvex;
convexMeshDescription.SetPositions(vertices);
convexMeshDescription.SetTriangles(faceVertexIndices);
MemoryStream memoryStream = new MemoryStream();
PxGhManager.Physics.CreateCooking().CookConvexMesh(convexMeshDescription, memoryStream);
memoryStream.Position = 0;
ConvexMesh convexMesh = PxGhManager.Physics.CreateConvexMesh(memoryStream);
ConvexMeshGeometry convexMeshGeometry = new ConvexMeshGeometry(convexMesh);
Actor.CreateShape(convexMeshGeometry, material);
}
Actor.SetMassAndUpdateInertia(mass);
}
private void CreateConvexMesh(Scene scene, Material material)
{
var colladaLoader = new ColladaLoader();
var bunny = colladaLoader.Load(@"Teapot.DAE", this.Engine.GraphicsDevice);
var convexMeshDesc = new ConvexMeshDesc
{
Flags = ConvexFlag.ComputeConvex
};
convexMeshDesc.SetPositions(bunny.VertexPositions);
convexMeshDesc.SetTriangles(bunny.Indices);
var cooking = scene.Physics.CreateCooking();
var stream = new MemoryStream();
var cookResult = cooking.CookConvexMesh(convexMeshDesc, stream);
stream.Position = 0;
var convexMesh = scene.Physics.CreateConvexMesh(stream);
var convexMeshGeom = new ConvexMeshGeometry(convexMesh)
{
Scale = new MeshScale(new Vector3(0.3f, 0.3f, 0.3f), Quaternion.Identity)
};
var rigidActor = scene.Physics.CreateRigidDynamic();
// TODO: The Shape created here is now also an owner of the ConvexMesh object,
// this needs to be incorp into the ObjectTable ownership logic
rigidActor.CreateShape(convexMeshGeom, material);
rigidActor.GlobalPose =
Matrix4x4.CreateRotationX(-(float)System.Math.PI / 2) *
Matrix4x4.CreateTranslation(0, 80, 0);
scene.AddActor(rigidActor);
}
public PxGhRigidStaticCompoundConvexMesh(Plane frame, List <Mesh> meshes, Material material)
{
DisplayMeshes = new List <Mesh>(meshes);
Actor.GlobalPose = frame.ToMatrix();
foreach (Mesh mesh in DisplayMeshes)
{
mesh.Transform(Transform.PlaneToPlane(frame, Plane.WorldXY));
Vector3[] vertices = new Vector3[mesh.Vertices.Count];
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = mesh.Vertices[i].ToSystemVector();
}
int[] faceVertexIndices = new int[mesh.Faces.Count * 3];
for (int i = 0; i < mesh.Faces.Count; i++)
{
MeshFace face = mesh.Faces[i];
faceVertexIndices[3 * i + 0] = face.A;
faceVertexIndices[3 * i + 1] = face.B;
faceVertexIndices[3 * i + 2] = face.C;
}
ConvexMeshDesc convexMeshDescription = new ConvexMeshDesc();
convexMeshDescription.Flags = ConvexFlag.ComputeConvex;
convexMeshDescription.SetPositions(vertices);
convexMeshDescription.SetTriangles(faceVertexIndices);
MemoryStream memoryStream = new MemoryStream();
PxGhManager.Physics.CreateCooking().CookConvexMesh(convexMeshDescription, memoryStream);
memoryStream.Position = 0;
ConvexMeshGeometry convexMeshGeometry = new ConvexMeshGeometry(PxGhManager.Physics.CreateConvexMesh(memoryStream));
Actor.CreateShape(convexMeshGeometry, material);
}
}
private void AddCollider(RigidActor actor, ICollider collider)
{
if (collider is AggregateCollider agg)
{
foreach (var c in agg.ColliderComponents)
{
AddCollider(actor, c);
}
}
else if (collider is TriangleMeshCollider triCollider)
{
var desc = triCollider.GetDescriptor(GetMaterialIndices);
// Avoiding offline cook path for now because
// 1. Comments in Physx.Net imply memory leak using streams
// 2. I don't want to deal with disk caching cooks yet
var finalMesh = this.physxPhysics.CreateTriangleMesh(cooker, desc);
var meshGeom = new TriangleMeshGeometry(finalMesh);
RigidActorExt.CreateExclusiveShape(actor, meshGeom, globalMaterials, null);
}
else if (collider is TriangleModelCollider triModelCollider)
{
foreach (var mesh in triModelCollider.MeshColliders)
{
var desc = mesh.GetDescriptor(GetMaterialIndices);
// Avoiding offline cook path for now because
// 1. Comments in Physx.Net imply memory leak using streams
// 2. I don't want to deal with disk caching cooks yet
var finalMesh = this.physxPhysics.CreateTriangleMesh(cooker, desc);
var meshGeom = new TriangleMeshGeometry(finalMesh);
RigidActorExt.CreateExclusiveShape(actor, meshGeom, globalMaterials, null);
}
}
else if (collider is IVertexBasedCollider vertCollider)
{
var desc = new ConvexMeshDesc()
{
Flags = ConvexFlag.ComputeConvex
};
desc.SetPositions(vertCollider.GetTransformedVertices());
var mesh = this.physxPhysics.CreateConvexMesh(this.cooker, desc);
var geom = new ConvexMeshGeometry(mesh);
var mat = this.GetOrCreateMaterial(vertCollider.PhysicsMaterial);
// TODO: re-use shared shapes instead of creating exclusive
RigidActorExt.CreateExclusiveShape(actor, geom, mat);
}
else if (collider is ConvexModelCollider modelCollider)
{
foreach (var verts in modelCollider.Meshes)
{
var desc = new ConvexMeshDesc()
{
Flags = ConvexFlag.ComputeConvex
};
desc.SetPositions(verts);
var mesh = this.physxPhysics.CreateConvexMesh(this.cooker, desc);
var geom = new ConvexMeshGeometry(mesh);
var mat = this.GetOrCreateMaterial(modelCollider.PhysicsMaterial);
// TODO: re-use shared shapes instead of creating exclusive
RigidActorExt.CreateExclusiveShape(actor, geom, mat);
}
}
}
private void CreateConvexMesh(Scene scene, Material material)
{
var colladaLoader = new ColladaLoader();
var bunny = colladaLoader.Load(@"Teapot.DAE", this.Engine.GraphicsDevice);
var convexMeshDesc = new ConvexMeshDesc()
{
Flags = ConvexFlag.ComputeConvex
};
convexMeshDesc.SetPositions(bunny.VertexPositions);
convexMeshDesc.SetTriangles(bunny.Indices);
var cooking = scene.Physics.CreateCooking();
var stream = new MemoryStream();
var cookResult = cooking.CookConvexMesh(convexMeshDesc, stream);
stream.Position = 0;
var convexMesh = scene.Physics.CreateConvexMesh(stream);
var convexMeshGeom = new ConvexMeshGeometry(convexMesh)
{
Scale = new MeshScale(new Vector3(0.3f, 0.3f, 0.3f), Quaternion.Identity)
};
var rigidActor = scene.Physics.CreateRigidDynamic();
// TODO: The Shape created here is now also an owner of the ConvexMesh object,
// this needs to be incorp into the ObjectTable ownership logic
rigidActor.CreateShape(convexMeshGeom, material);
rigidActor.GlobalPose =
Matrix.RotationX(-(float)System.Math.PI / 2) *
Matrix.Translation(0, 80, 0);
scene.AddActor(rigidActor);
}