public static void DrawGeometry(HkGeometry geometry, MatrixD worldMatrix, Color color, bool depthRead = false, bool shaded = false)
{
var msg = MyRenderProxy.PrepareDebugDrawTriangles();
try
{
for (int i = 0; i < geometry.TriangleCount; i++)
{
int a, b, c, m;
geometry.GetTriangle(i, out a, out b, out c, out m);
msg.AddIndex(a);
msg.AddIndex(b);
msg.AddIndex(c);
}
for (int i = 0; i < geometry.VertexCount; i++)
{
msg.AddVertex(geometry.GetVertex(i));
}
}
finally
{
MyRenderProxy.DebugDrawTriangles(msg, worldMatrix, color, depthRead, shaded);
}
}
public static void DrawGeometry(HkGeometry geometry, MatrixD worldMatrix, Color color, bool depthRead = false, bool shaded = false)
{
MyRenderMessageDebugDrawTriangles msgInterface = MyRenderProxy.PrepareDebugDrawTriangles();
try
{
int triangleIndex = 0;
while (true)
{
int num2;
int num3;
int num4;
int num5;
if (triangleIndex >= geometry.TriangleCount)
{
for (int i = 0; i < geometry.VertexCount; i++)
{
msgInterface.AddVertex(geometry.GetVertex(i));
}
break;
}
geometry.GetTriangle(triangleIndex, out num2, out num3, out num4, out num5);
msgInterface.AddIndex(num2);
msgInterface.AddIndex(num3);
msgInterface.AddIndex(num4);
triangleIndex++;
}
}
finally
{
msgInterface.Color = color;
MyRenderProxy.DebugDrawTriangles(msgInterface, new MatrixD?(worldMatrix), depthRead, shaded, false, false);
}
}
public void DrawGeometry(HkGeometry geometry, MatrixD worldMatrix, Color color, bool depthRead = false, bool shaded = false)
{
MyRenderMessageDebugDrawTriangles triangles = MyRenderProxy.PrepareDebugDrawTriangles();
for (int i = 0; i < geometry.TriangleCount; i++)
{
int num2;
int num3;
int num4;
int num5;
geometry.GetTriangle(i, out num2, out num3, out num4, out num5);
triangles.AddIndex(num2);
triangles.AddIndex(num3);
triangles.AddIndex(num4);
}
for (int j = 0; j < geometry.VertexCount; j++)
{
triangles.AddVertex(geometry.GetVertex(j));
}
}
public static void DrawGeometry(HkGeometry geometry, MatrixD worldMatrix, Color color, bool depthRead = false, bool shaded = false)
{
var msg = MyRenderProxy.PrepareDebugDrawTriangles();
try
{
for (int i = 0; i < geometry.TriangleCount; i++)
{
int a, b, c, m;
geometry.GetTriangle(i, out a, out b, out c, out m);
msg.AddIndex(a);
msg.AddIndex(b);
msg.AddIndex(c);
}
for (int i = 0; i < geometry.VertexCount; i++)
{
msg.AddVertex(geometry.GetVertex(i));
}
}
finally
{
MyRenderProxy.DebugDrawTriangles(msg, worldMatrix, color, depthRead, shaded);
}
}
private void AddPhysicalShape(HkShape shape, Matrix rdWorldMatrix)
{
switch (shape.ShapeType)
{
case Havok.HkShapeType.Box:
Havok.HkBoxShape box = (HkBoxShape)shape;
Vector3D vMin = new Vector3D(-box.HalfExtents.X, -box.HalfExtents.Y, -box.HalfExtents.Z);
Vector3D vMax = new Vector3D(box.HalfExtents.X, box.HalfExtents.Y, box.HalfExtents.Z);
BoundingBoxD boundingBox = new BoundingBoxD(vMin, vMax);
BoundingBoxToTranslatedTriangles(boundingBox, rdWorldMatrix);
break;
case Havok.HkShapeType.List:
var listShape = (HkListShape)shape;
var iterator = listShape.GetIterator();
while (iterator.IsValid)
{
AddPhysicalShape(iterator.CurrentValue, rdWorldMatrix);
iterator.Next();
}
break;
case HkShapeType.Mopp:
var compoundShape = (HkMoppBvTreeShape)shape;
AddPhysicalShape(compoundShape.ShapeCollection, rdWorldMatrix);
break;
case HkShapeType.ConvexTransform:
var transformShape = (HkConvexTransformShape)shape;
AddPhysicalShape(transformShape.ChildShape, transformShape.Transform * rdWorldMatrix);
break;
case HkShapeType.ConvexTranslate:
var translateShape = (HkConvexTranslateShape)shape;
var mat = Matrix.CreateTranslation(translateShape.Translation);
AddPhysicalShape((HkShape)translateShape.ChildShape, mat * rdWorldMatrix);
break;
case HkShapeType.Sphere:
var sphereShape = (HkSphereShape)shape;
m_icosphereMesh.AddTrianglesToWorldVertices(rdWorldMatrix.Translation, sphereShape.Radius);
break;
case HkShapeType.Capsule:
return;
ProfilerShort.Begin("Capsule");
var capsuleShape = (HkCapsuleShape)shape;
Line line = new Line(capsuleShape.VertexA, capsuleShape.VertexB);
m_capsuleMesh.AddTrianglesToWorldVertices(rdWorldMatrix, capsuleShape.Radius, line);
ProfilerShort.End();
break;
case HkShapeType.ConvexVertices:
var convexShape = (HkConvexVerticesShape)shape;
HkGeometry geometry = new HkGeometry();
Vector3 center;
convexShape.GetGeometry(geometry, out center);
for (int i = 0; i < geometry.TriangleCount; i++)
{
int i0, i1, i2, materialIndex;
geometry.GetTriangle(i, out i0, out i1, out i2, out materialIndex);
m_worldVertices.Triangles.Add(m_worldVertices.VerticesMaxValue + i0);
m_worldVertices.Triangles.Add(m_worldVertices.VerticesMaxValue + i1);
m_worldVertices.Triangles.Add(m_worldVertices.VerticesMaxValue + i2);
}
for (int i = 0; i < geometry.VertexCount; i++)
{
Vector3 vec = geometry.GetVertex(i);
Vector3.Transform(ref vec, ref rdWorldMatrix, out vec);
m_worldVertices.Vertices.Add(vec);
}
m_worldVertices.VerticesMaxValue += geometry.VertexCount;
break;
default:
// For breakpoint. Don't judge me :(
break;
}
}
private void AddPhysicalShape(HkShape shape, Matrix rdWorldMatrix)
{
switch (shape.ShapeType)
{
case Havok.HkShapeType.Box:
Havok.HkBoxShape box = (HkBoxShape)shape;
Vector3D vMin = new Vector3D(-box.HalfExtents.X, -box.HalfExtents.Y, -box.HalfExtents.Z);
Vector3D vMax = new Vector3D(box.HalfExtents.X, box.HalfExtents.Y, box.HalfExtents.Z);
BoundingBoxD boundingBox = new BoundingBoxD(vMin, vMax);
BoundingBoxToTranslatedTriangles(boundingBox, rdWorldMatrix);
break;
case Havok.HkShapeType.List:
var listShape = (HkListShape)shape;
var iterator = listShape.GetIterator();
while (iterator.IsValid)
{
AddPhysicalShape(iterator.CurrentValue, rdWorldMatrix);
iterator.Next();
}
break;
case HkShapeType.Mopp:
var compoundShape = (HkMoppBvTreeShape)shape;
AddPhysicalShape(compoundShape.ShapeCollection, rdWorldMatrix);
break;
case HkShapeType.ConvexTransform:
var transformShape = (HkConvexTransformShape)shape;
AddPhysicalShape(transformShape.ChildShape, transformShape.Transform * rdWorldMatrix);
break;
case HkShapeType.ConvexTranslate:
var translateShape = (HkConvexTranslateShape)shape;
var mat = Matrix.CreateTranslation(translateShape.Translation);
AddPhysicalShape((HkShape)translateShape.ChildShape, mat * rdWorldMatrix);
break;
case HkShapeType.Sphere:
var sphereShape = (HkSphereShape)shape;
m_icosphereMesh.AddTrianglesToWorldVertices(rdWorldMatrix.Translation, sphereShape.Radius);
break;
case HkShapeType.Capsule:
return;
ProfilerShort.Begin("Capsule");
var capsuleShape = (HkCapsuleShape)shape;
Line line = new Line(capsuleShape.VertexA, capsuleShape.VertexB);
m_capsuleMesh.AddTrianglesToWorldVertices(rdWorldMatrix, capsuleShape.Radius, line);
ProfilerShort.End();
break;
case HkShapeType.ConvexVertices:
var convexShape = (HkConvexVerticesShape)shape;
HkGeometry geometry = new HkGeometry();
Vector3 center;
convexShape.GetGeometry(geometry, out center);
for (int i = 0; i < geometry.TriangleCount; i++)
{
int i0, i1, i2, materialIndex;
geometry.GetTriangle(i, out i0, out i1, out i2, out materialIndex);
m_worldVertices.Triangles.Add(m_worldVertices.VerticesMaxValue + i0);
m_worldVertices.Triangles.Add(m_worldVertices.VerticesMaxValue + i1);
m_worldVertices.Triangles.Add(m_worldVertices.VerticesMaxValue + i2);
}
for (int i = 0; i < geometry.VertexCount; i++)
{
Vector3 vec = geometry.GetVertex(i);
Vector3.Transform(ref vec, ref rdWorldMatrix, out vec);
m_worldVertices.Vertices.Add(vec);
}
m_worldVertices.VerticesMaxValue += geometry.VertexCount;
break;
default:
// For breakpoint. Don't judge me :(
break;
}
}
private unsafe void AddPhysicalShape(HkShape shape, Matrix rdWorldMatrix)
{
switch (shape.ShapeType)
{
case HkShapeType.Sphere:
{
HkSphereShape shape7 = (HkSphereShape)shape;
m_icosphereMesh.AddTrianglesToWorldVertices(rdWorldMatrix.Translation, shape7.Radius);
return;
}
case HkShapeType.Cylinder:
case HkShapeType.Triangle:
case HkShapeType.TriSampledHeightFieldCollection:
case HkShapeType.TriSampledHeightFieldBvTree:
break;
case HkShapeType.Box:
{
HkBoxShape shape2 = (HkBoxShape)shape;
Vector3D min = new Vector3D((double)-shape2.HalfExtents.X, (double)-shape2.HalfExtents.Y, (double)-shape2.HalfExtents.Z);
Vector3D max = new Vector3D((double)shape2.HalfExtents.X, (double)shape2.HalfExtents.Y, (double)shape2.HalfExtents.Z);
BoundingBoxD bbox = new BoundingBoxD(min, max);
this.BoundingBoxToTranslatedTriangles(bbox, rdWorldMatrix);
return;
}
case HkShapeType.Capsule:
return;
case HkShapeType.ConvexVertices:
{
Vector3 vector;
HkConvexVerticesShape shape9 = (HkConvexVerticesShape)shape;
HkGeometry geometry = new HkGeometry();
shape9.GetGeometry(geometry, out vector);
int triangleIndex = 0;
while (true)
{
int num2;
int num3;
int num4;
int num5;
if (triangleIndex >= geometry.TriangleCount)
{
int vertexIndex = 0;
while (true)
{
if (vertexIndex >= geometry.VertexCount)
{
WorldVerticesInfo worldVertices = m_worldVertices;
worldVertices.VerticesMaxValue += geometry.VertexCount;
break;
}
Vector3 vertex = geometry.GetVertex(vertexIndex);
Vector3 *vectorPtr1 = (Vector3 *)ref vertex;
Vector3.Transform(ref (Vector3) ref vectorPtr1, ref rdWorldMatrix, out vertex);
m_worldVertices.Vertices.Add(vertex);
vertexIndex++;
}
break;
}
geometry.GetTriangle(triangleIndex, out num2, out num3, out num4, out num5);
m_worldVertices.Triangles.Add(m_worldVertices.VerticesMaxValue + num2);
m_worldVertices.Triangles.Add(m_worldVertices.VerticesMaxValue + num3);
m_worldVertices.Triangles.Add(m_worldVertices.VerticesMaxValue + num4);
triangleIndex++;
}
break;
}
case HkShapeType.List:
{
HkShapeContainerIterator iterator = ((HkListShape)shape).GetIterator();
while (iterator.IsValid)
{
this.AddPhysicalShape(iterator.CurrentValue, rdWorldMatrix);
iterator.Next();
}
return;
}
case HkShapeType.Mopp:
{
HkMoppBvTreeShape shape4 = (HkMoppBvTreeShape)shape;
this.AddPhysicalShape((HkShape)shape4.ShapeCollection, rdWorldMatrix);
return;
}
case HkShapeType.ConvexTranslate:
{
HkConvexTranslateShape shape6 = (HkConvexTranslateShape)shape;
Matrix matrix = Matrix.CreateTranslation(shape6.Translation);
this.AddPhysicalShape((HkShape)shape6.ChildShape, matrix * rdWorldMatrix);
return;
}
case HkShapeType.ConvexTransform:
{
HkConvexTransformShape shape5 = (HkConvexTransformShape)shape;
this.AddPhysicalShape((HkShape)shape5.ChildShape, shape5.Transform * rdWorldMatrix);
return;
}
default:
return;
}
}
/*
public Vector3D? GetNextPathPoint(Vector3D initialPosition, Vector3D targetPosition)
{
List<Vector3D> path = GetPathPoints(initialPosition, targetPosition);
for(int i = 0; i < path.Count-1 ; i++)
{
var worldPoint = path[i];// LocalPositionToWorldPosition(path[i]);
var nextWorldPoint = path[i + 1]; //LocalPositionToWorldPosition(path[i+1]);
MyRenderProxy.DebugDrawLine3D(worldPoint, nextWorldPoint, Color.Red, Color.Red, true);
MyRenderProxy.DebugDrawSphere(nextWorldPoint, 0.3f, Color.Yellow, 1f, true);
}
// First point is initialPosition
if (path.Count >= 2)
return path[1]; //LocalPositionToWorldPosition(path[1]);
else
return null;
}
*/
#region DebugDraw
public void DrawGeometry(HkGeometry geometry, MatrixD worldMatrix, Color color, bool depthRead = false, bool shaded = false)
{
var msg = MyRenderProxy.PrepareDebugDrawTriangles();
try
{
ProfilerShort.Begin("MyExternalPathfinfing.GetGeometryTriangles");
for (int i = 0; i < geometry.TriangleCount; i++)
{
int a, b, c, m;
geometry.GetTriangle(i, out a, out b, out c, out m);
msg.AddIndex(a);
msg.AddIndex(b);
msg.AddIndex(c);
}
for (int i = 0; i < geometry.VertexCount; i++)
msg.AddVertex(geometry.GetVertex(i));
ProfilerShort.End();
}
finally
{
MyRenderProxy.DebugDrawTriangles(msg, worldMatrix, color, depthRead, shaded);
}
}