/// <summary>
/// You can put a scale (-1) operation in the global pose, it works! (not for convex meshes though!)
/// NOTE: WARNING: scaling not supported!!! (still not supported, it has been delayed for several reasons)
/// </summary>
/// <param name="data"></param>
/// <param name="scene"></param>
/// <param name="globalPose"></param>
/// <returns></returns>
private ActorDescription createActorDesc(MeshCollisionData data, StillDesign.PhysX.Scene scene, Matrix globalPose)
{
// From PhysX SDK:
//There are some performance implications of compound shapes that the user should be aware of:
//You should avoid static actors being compounds; there's a limit to the number of triangles allowed in one actor's mesh shapes and subshapes exceeding the limit will be ignored.
//TODO: is this about triangle meshes only? EDIT: i dont think so
// Pull scaling out of the transformation
Vector3 scale, translation;
Quaternion rotation;
globalPose.Decompose(out scale, out rotation, out translation);
//globalPose = Matrix.CreateFromQuaternion(rotation) * Matrix.CreateTranslation(translation);
var scaleMat = Matrix.Identity;// Matrix.CreateScale(scale);
ActorDescription actorDesc = new ActorDescription();
for (int i = 0; i < data.Boxes.Count; i++)
{
var box = data.Boxes[i];
var shape = new BoxShapeDescription(box.Dimensions);
shape.LocalPose = box.Orientation * scaleMat;
actorDesc.Shapes.Add(shape);
}
for (int i = 0; i < data.ConvexMeshes.Count; i++)
{
var convex = data.ConvexMeshes[i];
var shape = new ConvexShapeDescription();
shape.ConvexMesh = MeshPhysicsPool.CreateConvexMesh(scene, convex);
shape.Flags = ShapeFlag.Visualization;
actorDesc.Shapes.Add(shape);
}
if (data.TriangleMesh != null)
{
TriangleMesh triangleMesh;
triangleMesh = MeshPhysicsPool.CreateTriangleMesh(scene, data.TriangleMesh);
TriangleMeshShapeDescription shapeDesc = new TriangleMeshShapeDescription();
shapeDesc.TriangleMesh = triangleMesh;
shapeDesc.Flags = ShapeFlag.Visualization; // Vizualization enabled, obviously (not obviously enabled, obvious that this enables visualization)
actorDesc.Shapes.Add(shapeDesc);
}
actorDesc.GlobalPose = globalPose;
return(actorDesc);
}
public void TestTriangleMesh()
{
XNAGame game = new XNAGame();
game.SpectaterCamera.CameraPosition = new Vector3(0, 0, -40);
PhysicsEngine engine = new PhysicsEngine();
//game.AddXNAObject(engine);
game.InitializeEvent += delegate
{
engine.Initialize();
PhysicsDebugRendererXNA debugRenderer = new PhysicsDebugRendererXNA(game, engine.Scene);
game.AddXNAObject(debugRenderer);
TangentVertex[] vertices;
short[] indices;
BoxMesh.CreateUnitBoxVerticesAndIndices(out vertices, out indices);
var positions = new Vector3[vertices.Length];
for (int i = 0; i < positions.Length; i++)
{
positions[i] = vertices[i].pos;
}
int[] intIndices = new int[indices.Length];
for (int i = 0; i < intIndices.Length; i++)
{
intIndices[i] = indices[i];
}
var triangleMesh = CreateTriangleMesh(positions, intIndices, engine.Scene);
var triangleMeshShapeDesc = new TriangleMeshShapeDescription();
triangleMeshShapeDesc.TriangleMesh = triangleMesh;
var actorDesc = new ActorDescription(triangleMeshShapeDesc);
var actor = engine.Scene.CreateActor(actorDesc);
};
game.UpdateEvent += delegate
{
engine.Update(game.Elapsed);
};
game.Run();
engine.Dispose();
}
/// <summary>
/// Initializes a new instance of the <see cref="PhysxTriangleMesh"/> class.
/// For cooked Models
/// </summary>
/// <param name="PhysxPhysicWorld">The physx physic world.</param>
/// <param name="FileStream">The file stream.</param>
/// <param name="localTransformation">The local transformation.</param>
/// <param name="worldTransformation">The world transformation.</param>
/// <param name="scale">The scale.</param>
/// <param name="MaterialDescription">The material description.</param>
public PhysxTriangleMesh(PhysxPhysicWorld PhysxPhysicWorld, FileStream FileStream, Microsoft.Xna.Framework.Matrix localTransformation, Microsoft.Xna.Framework.Matrix worldTransformation, Microsoft.Xna.Framework.Vector3 scale, MaterialDescription MaterialDescription)
{
TriangleMesh triangleMesh = PhysxPhysicWorld.Core.CreateTriangleMesh(FileStream);
TriangleMeshShapeDescription bunnyShapeDesc = new TriangleMeshShapeDescription();
bunnyShapeDesc.TriangleMesh = triangleMesh;
BodyDescription bodyDesc = new BodyDescription();
ActorDesc.Shapes.Add(bunnyShapeDesc);
ActorDesc.BodyDescription = bodyDesc;
this.Scale = scale;
}
//public static void drawSphere(SphereShape sphereShape, Vector3 color)
//{
// // Draw the Box
// {
// Camera _camera = CamerasManager.Instance.GetActiveCamera();
// var _sphere = ResourceManager.Instance.Get<Model>("Sphere");
// var transforms = new Matrix[_sphere.Bones.Count];
// _sphere.CopyAbsoluteBoneTransformsTo(transforms);
// foreach (ModelMesh mesh in _sphere.Meshes)
// {
// foreach (BasicEffect effect in mesh.Effects)
// {
// effect.DiffuseColor = color;
// effect.EnableDefaultLighting();
// effect.World = Matrix.CreateScale(sphereShape.Radius, sphereShape.Radius, sphereShape.Radius)*
// transforms[mesh.ParentBone.Index]*sphereShape.GlobalPose;
// effect.View = _camera.View;
// effect.Projection = _camera.Projection;
// }
// mesh.Draw();
// }
// }
//}
//private static void DrawBox(BoxShape shape, Vector3 color)
//{
// // Draw the Box
// {
// Camera _camera = CamerasManager.Instance.GetActiveCamera();
// var _box = ResourceManager.Instance.Get<Model>("Cube");
// var transforms = new Matrix[_box.Bones.Count];
// _box.CopyAbsoluteBoneTransformsTo(transforms);
// foreach (ModelMesh mesh in _box.Meshes)
// {
// foreach (BasicEffect effect in mesh.Effects)
// {
// effect.DiffuseColor = color;
// effect.EnableDefaultLighting();
// effect.World = Matrix.CreateScale(shape.Dimensions.X, shape.Dimensions.Y, shape.Dimensions.Z)*
// transforms[mesh.ParentBone.Index]*shape.GlobalPose;
// effect.View = _camera.View;
// effect.Projection = _camera.Projection;
// }
// mesh.Draw();
// }
// }
//}
//private static void DrawCapsule(CapsuleShape shape, Vector3 color)
//{
// {
// Camera _camera = CamerasManager.Instance.GetActiveCamera();
// var _capsule = ResourceManager.Instance.Get<Model>("Capsule");
// var transforms = new Matrix[_capsule.Bones.Count];
// _capsule.CopyAbsoluteBoneTransformsTo(transforms);
// foreach (ModelMesh mesh in _capsule.Meshes)
// {
// foreach (BasicEffect effect in mesh.Effects)
// {
// effect.DiffuseColor = color;
// effect.EnableDefaultLighting();
// effect.World = Matrix.CreateScale(shape.Radius, shape.Height, shape.Radius)*
// transforms[mesh.ParentBone.Index]*shape.GlobalPose;
// effect.View = _camera.View;
// effect.Projection = _camera.Projection;
// }
// mesh.Draw();
// }
// }
//}
//private static void DrawPlane(PlaneShape shape)
//{
// {
// Camera _camera = CamerasManager.Instance.GetActiveCamera();
// var _plane = ResourceManager.Instance.Get<Model>("Plane");
// var transforms = new Matrix[_plane.Bones.Count];
// _plane.CopyAbsoluteBoneTransformsTo(transforms);
// foreach (ModelMesh mesh in _plane.Meshes)
// {
// foreach (BasicEffect effect in mesh.Effects)
// {
// effect.EnableDefaultLighting();
// effect.World = Matrix.CreateScale(10240.0f, 1.0f, 10240.0f)*transforms[mesh.ParentBone.Index]*
// shape.GlobalPose;
// effect.View = _camera.View;
// effect.Projection = _camera.Projection;
// }
// mesh.Draw();
// }
// }
//}
public static Actor RetrievePhysicsTriggerFromModel(Model model, Vector3 position, float orientation)
{
var actorDesc = new ActorDescription();
foreach (ModelMesh mesh in model.Meshes)
{
TriangleMeshShapeDescription shape = RetrievePhysicsTriangleMeshFromMesh(mesh,
model.Root.Transform *
mesh.ParentBone.Transform, true);
shape.Flags |= ShapeFlag.TriggerOnLeave;
actorDesc.Shapes.Add(shape);
}
//actorDesc.Flags = 0;
actorDesc.GlobalPose = Matrix.CreateRotationY(orientation) * Matrix.CreateTranslation(position);
//actorDesc.GlobalPose = modelSceneNode.Model.Root.Transform;
return(PhysX.Instance.Scene.CreateActor(actorDesc));
}
/// <summary>
/// Here is where the magic happens! It loads the physX file and get from it the triangle mesh.
/// </summary>
/// <param name="stream"></param>
/// <param name="transforms"></param>
/// <returns></returns>
public static TriangleMeshShapeDescription GetPxMeshFromFile(string stream, Matrix transforms)
{
var fs = File.OpenRead(stream);
TriangleMesh pMesh = PhysX.Instance.Core.CreateTriangleMesh(fs);
fs.Close();
File.Delete(stream);
// Create TriangleMesh above code segment.
pMesh.SaveToDescription();
var tmsd = new TriangleMeshShapeDescription();
tmsd.TriangleMesh = pMesh;
tmsd.LocalPose = transforms;
tmsd.MeshPagingMode = MeshPagingMode.Auto;
return(tmsd);
}
/// <summary>
/// Initializes a new instance of the <see cref="PhysxTriangleMesh"/> class.
/// Cooks the Model on the fly
/// </summary>
/// <param name="PhysxPhysicWorld">The physx physic world.</param>
/// <param name="model">The model.</param>
/// <param name="worldTransformation">The world transformation.</param>
/// <param name="scale">The scale.</param>
/// <param name="density">The density.</param>
/// <param name="material">The material.</param>
public PhysxTriangleMesh(PhysxPhysicWorld PhysxPhysicWorld, IModelo model, Microsoft.Xna.Framework.Matrix worldTransformation, Microsoft.Xna.Framework.Vector3 scale, float density = 1, StillDesign.PhysX.Material material = null)
{
Microsoft.Xna.Framework.Vector3[] vertices = null;
int[] indices = null;
ExtractData(ref vertices, ref indices, model);
TriangleMeshDescription meshDesc = new TriangleMeshDescription();
meshDesc.AllocateVertices <Microsoft.Xna.Framework.Vector3>(vertices.Count());
meshDesc.VerticesStream.SetData <Microsoft.Xna.Framework.Vector3>(vertices);
meshDesc.AllocateTriangles <int>(indices.Count());
meshDesc.TriangleStream.SetData <int>(indices);
meshDesc.Flags = 0;
meshDesc.VertexCount = vertices.Count();
meshDesc.TriangleCount = indices.Count();
MemoryStream ms = new MemoryStream();
Cooking.InitializeCooking();
if (Cooking.CookTriangleMesh(meshDesc, ms) == false)
{
PloobsEngine.Engine.Logger.ActiveLogger.LogMessage("Cant Cook Model", Engine.Logger.LogLevel.FatalError);
}
Cooking.CloseCooking();
ms.Position = 0;
TriangleMesh triangleMesh = PhysxPhysicWorld.Core.CreateTriangleMesh(ms);
TriangleMeshShapeDescription bunnyShapeDesc = new TriangleMeshShapeDescription();
if (material != null)
{
bunnyShapeDesc.Material = material;
}
bunnyShapeDesc.TriangleMesh = triangleMesh;
ActorDesc = new ActorDescription();
ActorDesc.Shapes.Add(bunnyShapeDesc);
ActorDesc.BodyDescription = null;
ActorDesc.GlobalPose = worldTransformation.AsPhysX();
this.Scale = scale;
}
public TriangleMeshShapeDescription CreateTriangleMeshShape(Core core)
{
var triangleMeshDesc = new TriangleMeshDescription()
{
VertexCount = this.Vertices.Length,
TriangleCount = this.Indices.Length
};
triangleMeshDesc.AllocateVertices<Vector3>(this.Vertices.Length);
triangleMeshDesc.AllocateTriangles<uint>(this.Indices.Length);
foreach (Vector3 vec in this.Vertices)
triangleMeshDesc.VerticesStream.Write(vec);
triangleMeshDesc.Flags = 0;
foreach (int ui in this.Indices)
triangleMeshDesc.TriangleStream.Write<int>(ui);
// Two ways on cooking mesh: 1. Saved in memory, 2. Saved in file
// Cooking from memory
MemoryStream stream = new MemoryStream();
Cooking.InitializeCooking(new ConsoleOutputStream());
Cooking.CookTriangleMesh(triangleMeshDesc, stream);
Cooking.CloseCooking();
stream.Position = 0;
TriangleMesh pMesh = core.CreateTriangleMesh(stream);
// Create TriangleMesh above code segment.
pMesh.SaveToDescription();
TriangleMeshShapeDescription tmsd = new TriangleMeshShapeDescription();
tmsd.TriangleMesh = pMesh;
return tmsd;
}
/// <summary>
/// Initializes a new instance of the <see cref="PhysxTriangleMesh"/> class.
/// Cooks the Model on the fly
/// </summary>
/// <param name="PhysxPhysicWorld">The physx physic world.</param>
/// <param name="model">The model.</param>
/// <param name="worldTransformation">The world transformation.</param>
/// <param name="scale">The scale.</param>
/// <param name="density">The density.</param>
/// <param name="material">The material.</param>
public PhysxTriangleMesh(PhysxPhysicWorld PhysxPhysicWorld, IModelo model, Microsoft.Xna.Framework.Matrix worldTransformation, Microsoft.Xna.Framework.Vector3 scale, float density = 1,StillDesign.PhysX.Material material = null)
{
Microsoft.Xna.Framework.Vector3[] vertices = null;
int[] indices = null;
ExtractData(ref vertices, ref indices, model);
TriangleMeshDescription meshDesc = new TriangleMeshDescription();
meshDesc.AllocateVertices<Microsoft.Xna.Framework.Vector3>(vertices.Count());
meshDesc.VerticesStream.SetData<Microsoft.Xna.Framework.Vector3>(vertices);
meshDesc.AllocateTriangles<int>(indices.Count());
meshDesc.TriangleStream.SetData<int>(indices);
meshDesc.Flags = 0;
meshDesc.VertexCount = vertices.Count();
meshDesc.TriangleCount = indices.Count();
MemoryStream ms = new MemoryStream();
Cooking.InitializeCooking();
if (Cooking.CookTriangleMesh(meshDesc, ms) == false)
{
PloobsEngine.Engine.Logger.ActiveLogger.LogMessage("Cant Cook Model",Engine.Logger.LogLevel.FatalError);
}
Cooking.CloseCooking();
ms.Position = 0;
TriangleMesh triangleMesh = PhysxPhysicWorld.Core.CreateTriangleMesh(ms);
TriangleMeshShapeDescription bunnyShapeDesc = new TriangleMeshShapeDescription();
if (material != null)
bunnyShapeDesc.Material = material;
bunnyShapeDesc.TriangleMesh = triangleMesh;
ActorDesc = new ActorDescription();
ActorDesc.Shapes.Add(bunnyShapeDesc);
ActorDesc.BodyDescription= null;
ActorDesc.GlobalPose = worldTransformation.AsPhysX();
this.Scale = scale;
}
protected override void LoadPhysics(Scene scene)
{
CCDSkeleton ccdSkeletonForBox;
// Create a CCD Skeleton
{
Vector3 size = new Vector3(5, 5, 5);
int[] indices =
{
0, 1, 3,
0, 3, 2,
3, 7, 6,
3, 6, 2,
1, 5, 7,
1, 7, 3,
4, 6, 7,
4, 7, 5,
1, 0, 4,
5, 1, 4,
4, 0, 2,
4, 2, 6
};
Vector3[] vertices =
{
new Vector3( size.X, -size.Y, -size.Z ),
new Vector3( size.X, -size.Y, size.Z ),
new Vector3( size.X, size.Y, -size.Z ),
new Vector3( size.X, size.Y, size.Z ),
new Vector3( -size.X, -size.Y, -size.Z ),
new Vector3( -size.X, -size.Y, size.Z ),
new Vector3( -size.X, size.Y, -size.Z ),
new Vector3( -size.X, size.Y, size.Z )
};
TriangleMeshDescription triangleMeshDesc = new TriangleMeshDescription();
triangleMeshDesc.AllocateVertices<Vector3>(vertices.Length);
triangleMeshDesc.AllocateTriangles<int>(indices.Length);
triangleMeshDesc.VerticesStream.SetData(vertices);
triangleMeshDesc.TriangleStream.SetData(indices);
triangleMeshDesc.VertexCount = vertices.Length;
triangleMeshDesc.TriangleCount = indices.Length / 3;
ccdSkeletonForBox = scene.Core.CreateCCDSkeleton(triangleMeshDesc);
// Enable CCD and CCD Visualization
scene.Core.SetParameter(PhysicsParameter.ContinuousCollisionDetection, true);
scene.Core.SetParameter(PhysicsParameter.VisualizeContinuousCollisionDetectionTests, true);
}
// Create a large 2 polygon triangle mesh plane
// For CCD to work/be used many conditions must be met (check the docs for full list)
// One of those conditions is that one of the objects must be a triangle mesh or a convex mesh (for static-dynamic)
{
Vector3[] vertices =
{
new Vector3( -100, 5, -100 ),
new Vector3( -100, 5, 100 ),
new Vector3( 100, 5, -100 ),
new Vector3( 100, 5, 100 ),
};
int[] indices =
{
0, 1, 2,
1, 3, 2
};
TriangleMeshDescription triangleMeshDesc = new TriangleMeshDescription();
triangleMeshDesc.TriangleCount = indices.Length / 3;
triangleMeshDesc.VertexCount = vertices.Length;
triangleMeshDesc.AllocateTriangles<int>(triangleMeshDesc.TriangleCount);
triangleMeshDesc.AllocateVertices<Vector3>(triangleMeshDesc.VertexCount);
triangleMeshDesc.TriangleStream.SetData(indices);
triangleMeshDesc.VerticesStream.SetData(vertices);
TriangleMesh triangleMesh;
using (MemoryStream s = new MemoryStream())
{
Cooking.InitializeCooking();
Cooking.CookTriangleMesh(triangleMeshDesc, s);
Cooking.CloseCooking();
s.Position = 0;
triangleMesh = scene.Core.CreateTriangleMesh(s);
}
TriangleMeshShapeDescription triangleMeshShapeDesc = new TriangleMeshShapeDescription()
{
TriangleMesh = triangleMesh,
Flags = ShapeFlag.Visualization
};
ActorDescription actorDesc = new ActorDescription()
{
Shapes = { triangleMeshShapeDesc }
};
Actor actor = scene.CreateActor(actorDesc);
}
// Make 20 boxes fall down
for (int x = 0; x < 20; x++)
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(2, 3, 8);
// Assign the CCD Skeleton to the shape
boxShapeDesc.CCDSkeleton = ccdSkeletonForBox;
ActorDescription actorDesc = new ActorDescription()
{
Name = String.Format("Box {0}", x),
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.Translation(0, 15 + 3 * x, 0),
Shapes = { boxShapeDesc }
};
Actor actor = scene.CreateActor(actorDesc);
}
}
protected override void LoadContent()
{
CCDSkeleton ccdSkeletonForBox;
// Create a CCD Skeleton
{
Vector3 size = new Vector3(5, 5, 5);
int[] indices =
{
0, 1, 3,
0, 3, 2,
3, 7, 6,
3, 6, 2,
1, 5, 7,
1, 7, 3,
4, 6, 7,
4, 7, 5,
1, 0, 4,
5, 1, 4,
4, 0, 2,
4, 2, 6
};
Vector3[] vertices =
{
new Vector3(size.X, -size.Y, -size.Z),
new Vector3(size.X, -size.Y, size.Z),
new Vector3(size.X, size.Y, -size.Z),
new Vector3(size.X, size.Y, size.Z),
new Vector3(-size.X, -size.Y, -size.Z),
new Vector3(-size.X, -size.Y, size.Z),
new Vector3(-size.X, size.Y, -size.Z),
new Vector3(-size.X, size.Y, size.Z)
};
TriangleMeshDescription triangleMeshDesc = new TriangleMeshDescription();
triangleMeshDesc.AllocateVertices <Vector3>(vertices.Length);
triangleMeshDesc.AllocateTriangles <int>(indices.Length);
triangleMeshDesc.VerticesStream.SetData(vertices);
triangleMeshDesc.TriangleStream.SetData(indices);
triangleMeshDesc.VertexCount = vertices.Length;
triangleMeshDesc.TriangleCount = indices.Length / 3;
ccdSkeletonForBox = _core.CreateCCDSkeleton(triangleMeshDesc);
// Enable CCD and CCD Visualization
_core.SetParameter(PhysicsParameter.ContinuousCollisionDetection, true);
_core.SetParameter(PhysicsParameter.VisualizeContinuousCollisionDetectionTests, true);
}
// Create a large 2 polygon triangle mesh plane
// For CCD to work/be used many conditions must be met (check the docs for full list)
// One of those conditions is that one of the objects must be a triangle mesh or a convex mesh (for static-dynamic)
{
Vector3[] vertices =
{
new Vector3(-100, 5, -100),
new Vector3(-100, 5, 100),
new Vector3(100, 5, -100),
new Vector3(100, 5, 100),
};
int[] indices =
{
0, 1, 2,
1, 3, 2
};
TriangleMeshDescription triangleMeshDesc = new TriangleMeshDescription();
triangleMeshDesc.TriangleCount = indices.Length / 3;
triangleMeshDesc.VertexCount = vertices.Length;
triangleMeshDesc.AllocateTriangles <int>(triangleMeshDesc.TriangleCount);
triangleMeshDesc.AllocateVertices <Vector3>(triangleMeshDesc.VertexCount);
triangleMeshDesc.TriangleStream.SetData(indices);
triangleMeshDesc.VerticesStream.SetData(vertices);
MemoryStream s = new MemoryStream();
Cooking.InitializeCooking();
Cooking.CookTriangleMesh(triangleMeshDesc, s);
Cooking.CloseCooking();
s.Position = 0;
TriangleMesh triangleMesh = _core.CreateTriangleMesh(s);
TriangleMeshShapeDescription triangleMeshShapeDesc = new TriangleMeshShapeDescription()
{
TriangleMesh = triangleMesh,
Flags = ShapeFlag.Visualization
};
ActorDescription actorDesc = new ActorDescription()
{
Shapes = { triangleMeshShapeDesc }
};
Actor actor = _scene.CreateActor(actorDesc);
}
// Make 20 boxes fall down
for (int x = 0; x < 20; x++)
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(2, 3, 8);
// Assign the CCD Skeleton to the shape
boxShapeDesc.CCDSkeleton = ccdSkeletonForBox;
ActorDescription actorDesc = new ActorDescription()
{
Name = String.Format("Box {0}", x),
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.CreateTranslation(0, 15 + 3 * x, 0),
Shapes = { boxShapeDesc }
};
Actor actor = _scene.CreateActor(actorDesc);
}
}
public static TriangleMeshShapeDescription RetrievePhysicsTriangleMeshFromMesh(ModelMesh mesh, Matrix transforms, bool flipNormals)
{
Vector3[] vertices;
VertexPositionNormalTexture[] meshVerts;
var triangleMeshDesc = new TriangleMeshDescription();
triangleMeshDesc.TriangleCount = mesh.MeshParts[0].PrimitiveCount;
triangleMeshDesc.AllocateTriangles <int>(mesh.MeshParts[0].PrimitiveCount);
meshVerts = new VertexPositionNormalTexture[mesh.MeshParts[0].NumVertices];
if (mesh.IndexBuffer.IndexElementSize == IndexElementSize.SixteenBits)
{
var indices = new short[mesh.IndexBuffer.SizeInBytes / 2];
mesh.IndexBuffer.GetData(indices);
foreach (int ui in indices)
{
triangleMeshDesc.TriangleStream.Write(ui);
}
}
else
{
var indices = new int[mesh.IndexBuffer.SizeInBytes / 4];
mesh.IndexBuffer.GetData(indices);
foreach (int ui in indices)
{
triangleMeshDesc.TriangleStream.Write(ui);
}
}
mesh.VertexBuffer.GetData(meshVerts);
vertices = new Vector3[mesh.MeshParts[0].NumVertices];
for (int i = 0; i < meshVerts.Length; i++)
{
vertices[i] = meshVerts[i].Position;
}
triangleMeshDesc.VertexCount = vertices.Length;
triangleMeshDesc.AllocateVertices <Vector3>(vertices.Length);
foreach (Vector3 vec in vertices)
{
triangleMeshDesc.VerticesStream.Write(vec);
}
if (flipNormals)
{
triangleMeshDesc.Flags = MeshFlag.FlipNormals;
}
var stream = new MemoryStream();
Cooking.InitializeCooking(new ConsoleOutputStream());
Cooking.CookTriangleMesh(triangleMeshDesc, stream);
Cooking.CloseCooking();
stream.Position = 0;
TriangleMesh pMesh = PhysX.Instance.Core.CreateTriangleMesh(stream);
// Create TriangleMesh above code segment.
pMesh.SaveToDescription();
var tmsd = new TriangleMeshShapeDescription();
tmsd.TriangleMesh = pMesh;
tmsd.LocalPose = transforms;
tmsd.MeshPagingMode = MeshPagingMode.Auto;
return(tmsd);
}
public void TestObjImportPhysics()
{
XNAGame game = new XNAGame();
game.SpectaterCamera.CameraPosition = new Vector3(0, 0, -40);
game.SpectaterCamera.FarClip = 10000;
PhysicsEngine engine = new PhysicsEngine();
//game.AddXNAObject(engine);
game.InitializeEvent += delegate
{
engine.Initialize();
PhysicsDebugRendererXNA debugRenderer = new PhysicsDebugRendererXNA(game, engine.Scene);
game.AddXNAObject(debugRenderer);
ObjImporter importer = new ObjImporter();
//importer.ImportObjFile(EmbeddedFile.GetStream(typeof(ObjImporter).Assembly, "MHGameWork.TheWizards.OBJParser.Files.Crate.obj", "Crate.obj"));
importer.ImportObjFile(TestFiles.MerchantsHouseObj);
List <Vector3> positions = importer.Vertices;
Vector3[] transformedPositions = new Vector3[positions.Count];
Matrix objectMatrix = Matrix.CreateScale(5);
Matrix transform = objectMatrix;
Vector3.Transform(positions.ToArray(), ref transform, transformedPositions);
var indices = new List <int>();
for (int i = 0; i < importer.Groups.Count; i++)
{
for (int j = 0; j < importer.Groups[i].SubObjects.Count; j++)
{
for (int k = 0; k < importer.Groups[i].SubObjects[j].Faces.Count; k++)
{
indices.Add(importer.Groups[i].SubObjects[j].Faces[k].V1.Position);
indices.Add(importer.Groups[i].SubObjects[j].Faces[k].V2.Position);
indices.Add(importer.Groups[i].SubObjects[j].Faces[k].V3.Position);
}
}
}
var triangleMesh = CreateTriangleMesh(transformedPositions, indices.ToArray(), engine.Scene);
var triangleMeshShapeDesc = new TriangleMeshShapeDescription();
triangleMeshShapeDesc.TriangleMesh = triangleMesh;
var actorDesc = new ActorDescription(triangleMeshShapeDesc);
var actor = engine.Scene.CreateActor(actorDesc);
};
game.UpdateEvent += delegate
{
if (game.Keyboard.IsKeyPressed(Microsoft.Xna.Framework.Input.Keys.F))
{
Actor actor = PhysicsHelper.CreateDynamicSphereActor(engine.Scene, 1, 1);
actor.GlobalPosition = game.SpectaterCamera.CameraPosition +
game.SpectaterCamera.CameraDirection * 5;
actor.LinearVelocity = game.SpectaterCamera.CameraDirection * 5;
}
engine.Update(game.Elapsed);
};
game.Run();
engine.Dispose();
}
/// <summary>
/// Initializes a new instance of the <see cref="PhysxTriangleMesh"/> class.
/// For cooked Models
/// </summary>
/// <param name="PhysxPhysicWorld">The physx physic world.</param>
/// <param name="FileStream">The file stream.</param>
/// <param name="localTransformation">The local transformation.</param>
/// <param name="worldTransformation">The world transformation.</param>
/// <param name="scale">The scale.</param>
/// <param name="MaterialDescription">The material description.</param>
public PhysxTriangleMesh(PhysxPhysicWorld PhysxPhysicWorld, FileStream FileStream, Microsoft.Xna.Framework.Matrix localTransformation, Microsoft.Xna.Framework.Matrix worldTransformation, Microsoft.Xna.Framework.Vector3 scale, MaterialDescription MaterialDescription)
{
TriangleMesh triangleMesh = PhysxPhysicWorld.Core.CreateTriangleMesh(FileStream);
TriangleMeshShapeDescription bunnyShapeDesc = new TriangleMeshShapeDescription();
bunnyShapeDesc.TriangleMesh = triangleMesh;
BodyDescription bodyDesc = new BodyDescription();
ActorDesc.Shapes.Add(bunnyShapeDesc);
ActorDesc.BodyDescription = bodyDesc;
this.Scale = scale;
}
public static Actor GenerateTrackActor(RaceFile file, CActorHierarchy actors, out List <NonCar> nonCarInstances)
{
List <Vector3> verts = new List <Vector3>();
List <ushort> indices = new List <ushort>();
List <ushort> materialIndices = new List <ushort>();
List <OpenC1.CActor> actorsList = actors.All();
nonCarInstances = new List <NonCar>();
for (int i = 0; i < actorsList.Count; i++)
{
CActor actor = actorsList[i];
if (actor.Model == null)
{
continue;
}
if (actor.Name.StartsWith("&"))
{
if (Char.IsDigit(actor.Name[1]) && Char.IsDigit(actor.Name[2]))
{
NonCar nc = GenerateNonCar(actor, file.NonCars);
if (nc != null)
{
nonCarInstances.Add(nc);
continue; //dont-merge with track
}
}
}
int baseIndex = verts.Count;
for (int j = 0; j < actor.Model.VertexCount; j++)
{
verts.Add(Vector3.Zero);
}
foreach (Polygon poly in actor.Model.Polygons)
{
if (poly.MaterialIndex < 0)
{
continue;
}
string materialName = actor.Model.MaterialNames == null ? "none" : actor.Model.MaterialNames[poly.MaterialIndex];
//this is a non-solid material
if (materialName.StartsWith("!"))
{
continue;
}
int index = baseIndex + poly.Vertex1;
indices.Add((ushort)index);
if (verts[index] == Vector3.Zero)
{
Vector3 transformedVec = Vector3.Transform(actors.Models._vertexPositions[actor.Model.VertexBaseIndex + poly.Vertex1], actor.Matrix);
verts[index] = transformedVec;
}
index = baseIndex + poly.Vertex2;
indices.Add((ushort)index);
if (verts[index] == Vector3.Zero)
{
Vector3 transformedVec = Vector3.Transform(actors.Models._vertexPositions[actor.Model.VertexBaseIndex + poly.Vertex2], actor.Matrix);
verts[index] = transformedVec;
}
index = baseIndex + poly.Vertex3;
indices.Add((ushort)index);
if (verts[index] == Vector3.Zero)
{
Vector3 transformedVec = Vector3.Transform(actors.Models._vertexPositions[actor.Model.VertexBaseIndex + poly.Vertex3], actor.Matrix);
verts[index] = transformedVec;
}
if (Char.IsDigit(materialName[0]))
{
ushort matModiferId = (ushort)(ushort.Parse(materialName.Substring(0, 1)) + 1);
if (matModiferId >= file.MaterialModifiers.Count)
{
matModiferId = 0;
}
materialIndices.Add(matModiferId);
}
else
{
materialIndices.Add(0);
}
}
}
TriangleMeshDescription meshDesc = new TriangleMeshDescription();
meshDesc.TriangleCount = indices.Count / 3;
meshDesc.VertexCount = verts.Count;
meshDesc.AllocateVertices <Vector3>(meshDesc.VertexCount);
meshDesc.AllocateTriangles <ushort>(meshDesc.TriangleCount);
meshDesc.AllocateMaterialIndices <ushort>(materialIndices.Count);
meshDesc.TriangleStream.SetData(indices.ToArray());
meshDesc.VerticesStream.SetData(verts.ToArray());
meshDesc.MaterialIndicesStream.SetData(materialIndices.ToArray());
meshDesc.Flags = MeshFlag.Indices16Bit;
MemoryStream s = new MemoryStream();
Cooking.InitializeCooking();
Cooking.CookTriangleMesh(meshDesc, s);
Cooking.CloseCooking();
s.Position = 0;
TriangleMesh triangleMesh = PhysX.Instance.Core.CreateTriangleMesh(s);
TriangleMeshShapeDescription shape = new TriangleMeshShapeDescription()
{
TriangleMesh = triangleMesh,
};
ActorDescription actorDescription = new ActorDescription()
{
GlobalPose = Matrix.CreateTranslation(0, 0, 0),
Shapes = { shape }
};
foreach (Checkpoint checkpoint in file.Checkpoints)
{
ActorDescription actorDesc = new ActorDescription();
BoxShapeDescription box = new BoxShapeDescription(checkpoint.BBox.GetSize());
box.Flags = ShapeFlag.TriggerOnEnter | ShapeFlag.Visualization;
actorDesc.Shapes.Add(box);
Actor actor = PhysX.Instance.Scene.CreateActor(actorDesc);
actor.GlobalPosition = checkpoint.BBox.GetCenter();
actor.UserData = checkpoint;
}
StillDesign.PhysX.Actor environment = PhysX.Instance.Scene.CreateActor(actorDescription);
environment.Group = PhysXConsts.TrackId;
environment.Shapes[0].SetFlag(ShapeFlag.Visualization, false);
CreateDefaultWaterSpecVols(file, actorsList, actors.Models);
for (int i = 1; i < file.SpecialVolumes.Count; i++)
{
SpecialVolume vol = file.SpecialVolumes[i];
Vector3 scale = new Vector3();
Vector3 trans = new Vector3();
Quaternion q = new Quaternion();
Matrix matrix = vol.Matrix;
bool success = matrix.Decompose(out scale, out q, out trans);
if (scale.Z == 0)
{
scale.Z = 0.1f;
}
ActorDescription actorDesc = new ActorDescription();
BoxShapeDescription box = new BoxShapeDescription(scale);
if (success)
{
if (float.IsNaN(q.X))
{
continue;
}
box.LocalRotation = Matrix.CreateFromQuaternion(q);
}
else
{
//if the matrix cannot be decomposed, like part of the long tunnel in coasta...
// get the rotation by calculating some points and working out rotation from them
Vector3 v1 = Vector3.Transform(new Vector3(-1, -1, 1), matrix);
Vector3 v2 = Vector3.Transform(new Vector3(-1, 1, -1), matrix);
Vector3 forwards = v2 - v1;
forwards.Normalize();
box.LocalRotation = Matrix.CreateWorld(Vector3.Zero, forwards, Vector3.Up);
}
box.Flags = ShapeFlag.TriggerOnEnter | ShapeFlag.TriggerOnLeave | ShapeFlag.Visualization;
actorDesc.Shapes.Add(box);
Actor actor = PhysX.Instance.Scene.CreateActor(actorDesc);
actor.GlobalPosition = vol.Matrix.Translation;
actor.UserData = vol;
}
return(environment);
}
public static Actor GenerateTrackActor(RaceFile file, CActorHierarchy actors, out List<NonCar> nonCarInstances)
{
List<Vector3> verts = new List<Vector3>();
List<ushort> indices = new List<ushort>();
List<ushort> materialIndices = new List<ushort>();
List<OpenC1.CActor> actorsList = actors.All();
nonCarInstances = new List<NonCar>();
for (int i = 0; i < actorsList.Count; i++)
{
CActor actor = actorsList[i];
if (actor.Model == null) continue;
if (actor.Name.StartsWith("&"))
{
if (Char.IsDigit(actor.Name[1]) && Char.IsDigit(actor.Name[2]))
{
NonCar nc = GenerateNonCar(actor, file.NonCars);
if (nc != null)
{
nonCarInstances.Add(nc);
continue; //dont-merge with track
}
}
}
int baseIndex = verts.Count;
for (int j = 0; j < actor.Model.VertexCount; j++)
verts.Add(Vector3.Zero);
foreach (Polygon poly in actor.Model.Polygons)
{
if (poly.MaterialIndex < 0)
continue;
string materialName = actor.Model.MaterialNames == null ? "none" : actor.Model.MaterialNames[poly.MaterialIndex];
//this is a non-solid material
if (materialName.StartsWith("!"))
continue;
int index = baseIndex + poly.Vertex1;
indices.Add((ushort)index);
if (verts[index] == Vector3.Zero)
{
Vector3 transformedVec = Vector3.Transform(actors.Models._vertexPositions[actor.Model.VertexBaseIndex + poly.Vertex1], actor.Matrix);
verts[index] = transformedVec;
}
index = baseIndex + poly.Vertex2;
indices.Add((ushort)index);
if (verts[index] == Vector3.Zero)
{
Vector3 transformedVec = Vector3.Transform(actors.Models._vertexPositions[actor.Model.VertexBaseIndex + poly.Vertex2], actor.Matrix);
verts[index] = transformedVec;
}
index = baseIndex + poly.Vertex3;
indices.Add((ushort)index);
if (verts[index] == Vector3.Zero)
{
Vector3 transformedVec = Vector3.Transform(actors.Models._vertexPositions[actor.Model.VertexBaseIndex + poly.Vertex3], actor.Matrix);
verts[index] = transformedVec;
}
if (Char.IsDigit(materialName[0]))
{
ushort matModiferId = (ushort)(ushort.Parse(materialName.Substring(0, 1)) + 1);
if (matModiferId >= file.MaterialModifiers.Count) matModiferId = 0;
materialIndices.Add(matModiferId);
}
else
materialIndices.Add(0);
}
}
TriangleMeshDescription meshDesc = new TriangleMeshDescription();
meshDesc.TriangleCount = indices.Count / 3;
meshDesc.VertexCount = verts.Count;
meshDesc.AllocateVertices<Vector3>(meshDesc.VertexCount);
meshDesc.AllocateTriangles<ushort>(meshDesc.TriangleCount);
meshDesc.AllocateMaterialIndices<ushort>(materialIndices.Count);
meshDesc.TriangleStream.SetData(indices.ToArray());
meshDesc.VerticesStream.SetData(verts.ToArray());
meshDesc.MaterialIndicesStream.SetData(materialIndices.ToArray());
meshDesc.Flags = MeshFlag.Indices16Bit;
MemoryStream s = new MemoryStream();
Cooking.InitializeCooking();
Cooking.CookTriangleMesh(meshDesc, s);
Cooking.CloseCooking();
s.Position = 0;
TriangleMesh triangleMesh = PhysX.Instance.Core.CreateTriangleMesh(s);
TriangleMeshShapeDescription shape = new TriangleMeshShapeDescription()
{
TriangleMesh = triangleMesh,
};
ActorDescription actorDescription = new ActorDescription()
{
GlobalPose = Matrix.CreateTranslation(0, 0, 0),
Shapes = { shape }
};
foreach (Checkpoint checkpoint in file.Checkpoints)
{
ActorDescription actorDesc = new ActorDescription();
BoxShapeDescription box = new BoxShapeDescription(checkpoint.BBox.GetSize());
box.Flags = ShapeFlag.TriggerOnEnter | ShapeFlag.Visualization;
actorDesc.Shapes.Add(box);
Actor actor = PhysX.Instance.Scene.CreateActor(actorDesc);
actor.GlobalPosition = checkpoint.BBox.GetCenter();
actor.UserData = checkpoint;
}
StillDesign.PhysX.Actor environment = PhysX.Instance.Scene.CreateActor(actorDescription);
environment.Group = PhysXConsts.TrackId;
environment.Shapes[0].SetFlag(ShapeFlag.Visualization, false);
CreateDefaultWaterSpecVols(file, actorsList, actors.Models);
for (int i = 1; i < file.SpecialVolumes.Count; i++)
{
SpecialVolume vol = file.SpecialVolumes[i];
Vector3 scale = new Vector3();
Vector3 trans = new Vector3();
Quaternion q = new Quaternion();
Matrix matrix = vol.Matrix;
bool success = matrix.Decompose(out scale, out q, out trans);
if (scale.Z == 0) scale.Z = 0.1f;
ActorDescription actorDesc = new ActorDescription();
BoxShapeDescription box = new BoxShapeDescription(scale);
if (success)
{
if (float.IsNaN(q.X))
continue;
box.LocalRotation = Matrix.CreateFromQuaternion(q);
}
else
{
//if the matrix cannot be decomposed, like part of the long tunnel in coasta...
// get the rotation by calculating some points and working out rotation from them
Vector3 v1 = Vector3.Transform(new Vector3(-1, -1, 1), matrix);
Vector3 v2 = Vector3.Transform(new Vector3(-1, 1, -1), matrix);
Vector3 forwards = v2 - v1;
forwards.Normalize();
box.LocalRotation = Matrix.CreateWorld(Vector3.Zero, forwards, Vector3.Up);
}
box.Flags = ShapeFlag.TriggerOnEnter | ShapeFlag.TriggerOnLeave | ShapeFlag.Visualization;
actorDesc.Shapes.Add(box);
Actor actor = PhysX.Instance.Scene.CreateActor(actorDesc);
actor.GlobalPosition = vol.Matrix.Translation;
actor.UserData = vol;
}
return environment;
}