{

[StructLayout(LayoutKind.Sequential)]

public struct PositionColored

{

public static readonly int Stride = Vector3.SizeInBytes + sizeof(int);

public Vector3 Position;

public int Color;

public PositionColored(Vector3 pos, int col)

{

Position = pos;

Color = col;

}

public PositionColored(ref Vector3 pos, int col)

{

Position = pos;

Color = col;

}

}

[StructLayout(LayoutKind.Sequential)]

public struct PositionedNormal

{

public Vector3 Position;

public Vector3 Normal;

public PositionedNormal(Vector3 pos, Vector3 normal)

{

Position = pos;

Normal = normal;

}

public PositionedNormal(ref Vector3 pos, ref Vector3 normal)

{

Position = pos;

Normal = normal;

}

}

// Creates platform-agnostic vertex buffers of physical shapes

// (boxes, cones, cylinders, spheres) for drawing. Includes normals.

public abstract class MeshFactory

{

public abstract void RemoveShape(CollisionShape shape);

public static Vector3[] CreateShape(CollisionShape shape, out uint[] indices)

{

switch (shape.ShapeType)

{

case BroadphaseNativeType.BoxShape:

indices = null;

return CreateBox(shape as BoxShape);

case BroadphaseNativeType.CapsuleShape:

return CreateCapsule(shape as CapsuleShape, out indices);

case BroadphaseNativeType.ConvexHullShape:

indices = null;

return CreateConvexHull(shape as ConvexHullShape);

case BroadphaseNativeType.ConeShape:

return CreateCone(shape as ConeShape, out indices);

case BroadphaseNativeType.CylinderShape:

return CreateCylinder(shape as CylinderShape, out indices);

case BroadphaseNativeType.GImpactShape:

indices = null;

return CreateGImpactMesh(shape as GImpactMeshShape);

case BroadphaseNativeType.MultiSphereShape:

return CreateMultiSphere(shape as MultiSphereShape, out indices);

case BroadphaseNativeType.SphereShape:

return CreateSphere(shape as SphereShape, out indices);

case BroadphaseNativeType.StaticPlane:

return CreateStaticPlane(shape as StaticPlaneShape, out indices);

case BroadphaseNativeType.TriangleMeshShape:

indices = null;

return CreateTriangleMesh(shape as TriangleMeshShape);

default:

throw new NotImplementedException();

}

}

public static ushort[] CompactIndexBuffer(uint[] indices)

{

if (indices.Length > 65535)

{

return null;

}

ushort[] ib = new ushort[indices.Length];

for (int i = 0; i < ib.Length; i++)

{

ib[i] = (ushort)indices[i];

}

return ib;

}

public static Vector3[] CreateBox(BoxShape shape)

{

Vector3 size = shape.HalfExtentsWithMargin;

Vector3[] vertices = new Vector3[36 * 2];

Vector3 normal;

int v = 0;

for (int j = 0; j < 3; j++)

{

for (int i = 1; i != -3; i -= 2)

{

normal = GetVectorByAxis(0, i, 0, j);

vertices[v++] = GetVectorByAxis(i, i, i, j) * size;

vertices[v++] = normal;

vertices[v++] = GetVectorByAxis(1, i, -1, j) * size;

vertices[v++] = normal;

vertices[v++] = GetVectorByAxis(-1, i, 1, j) * size;

vertices[v++] = normal;

vertices[v++] = GetVectorByAxis(-i, i, -i, j) * size;

vertices[v++] = normal;

vertices[v++] = GetVectorByAxis(-1, i, 1, j) * size;

vertices[v++] = normal;

vertices[v++] = GetVectorByAxis(1, i, -1, j) * size;

vertices[v++] = normal;

}

}

return vertices;

}

public static Vector3[] CreateCapsule(CapsuleShape shape, out uint[] indices)

{

int up = shape.UpAxis;

float radius = shape.Radius;

float cylinderHalfHeight = shape.HalfHeight;

int slices = (int)(radius * 10.0f);

int stacks = (int)(radius * 10.0f);

slices = (slices > 16) ? 16 : (slices < 3) ? 3 : slices;

stacks = (stacks > 16) ? 16 : (stacks < 3) ? 3 : stacks;

float hAngleStep = (float)Math.PI * 2 / slices;

float vAngleStep = (float)Math.PI / stacks;

int vertexCount = 2 + slices * (stacks - 1);

int indexCount = 6 * slices * (stacks - 1);

Vector3[] vertices = new Vector3[vertexCount * 2];

indices = new uint[indexCount];

int i = 0, v = 0;

// Vertices

// Top and bottom

vertices[v++] = GetVectorByAxis(0, -cylinderHalfHeight - radius, 0, up);

vertices[v++] = GetVectorByAxis(-Vector3.UnitY, up);

vertices[v++] = GetVectorByAxis(0, cylinderHalfHeight + radius, 0, up);

vertices[v++] = GetVectorByAxis(Vector3.UnitY, up);

// Stacks

int j, k;

float angle = 0;

float vAngle = -(float)Math.PI / 2;

Vector3 vTemp;

Vector3 cylinderOffset = GetVectorByAxis(0, -cylinderHalfHeight, 0, up);

for (j = 0; j < stacks - 1; j++)

{

float prevAngle = vAngle;

vAngle += vAngleStep;

if (vAngle > 0 && prevAngle < 0)

{

cylinderOffset = GetVectorByAxis(0, cylinderHalfHeight, 0, up);

}

for (k = 0; k < slices; k++)

{

angle += hAngleStep;

vTemp = GetVectorByAxis((float)Math.Cos(vAngle) * (float)Math.Sin(angle),

(float)Math.Sin(vAngle),

(float)Math.Cos(vAngle) * (float)Math.Cos(angle), up);

vertices[v++] = vTemp * radius + cylinderOffset;

vertices[v++] = Vector3.Normalize(vTemp);

}

}

// Indices

// Top cap

uint index = 2;

for (k = 0; k < slices; k++)

{

indices[i++] = index++;

indices[i++] = 0;

indices[i++] = index;

}

indices[i - 1] = 2;

// Stacks

int sliceDiff = slices * 3;

for (j = 0; j < stacks - 2; j++)

{

for (k = 0; k < slices; k++)

{

indices[i] = indices[i - sliceDiff + 2];

indices[i + 1] = index++;

indices[i + 2] = indices[i - sliceDiff];

i += 3;

}

for (k = 0; k < slices; k++)

{

indices[i] = indices[i - sliceDiff + 1];

indices[i + 1] = indices[i - sliceDiff];

indices[i + 2] = indices[i - sliceDiff + 4];

i += 3;

}

indices[i - 1] = indices[i - sliceDiff];

}

// Bottom cap

index--;

for (k = 0; k < slices; k++)

{

indices[i++] = index--;

indices[i++] = 1;

indices[i++] = index;

}

indices[i - 1] = indices[i - sliceDiff];

return vertices;

}

public static Vector3 GetVectorByAxis(Vector3 vector, int axis)

{

switch (axis)

{

case 0:

return new Vector3(vector.Y, vector.Z, vector.X);

case 1:

return vector;

default:

return new Vector3(vector.Z, vector.X, vector.Y);

}

}

public static Vector3 GetVectorByAxis(float x, float y, float z, int axis)

{

switch (axis)

{

case 0:

return new Vector3(y, z, x);

case 1:

return new Vector3(x, y, z);

default:

return new Vector3(z, x, y);

}

}

public static Vector3[] CreateCone(ConeShape shape, out uint[] indices)

{

int up = shape.ConeUpIndex;

float radius = shape.Radius;

float halfHeight = shape.Height / 2 + shape.Margin;

const int numSteps = 10;

const float angleStep = (2 * (float)Math.PI) / numSteps;

const int vertexCount = 2 + 6 * numSteps;

const int indexCount = (4 * numSteps + 2) * 3;

Vector3[] vertices = new Vector3[vertexCount * 2];

indices = new uint[indexCount];

int i = 0, v = 0;

uint index = 0;

uint baseIndex;

Vector3 normal;

// Draw the base

normal = GetVectorByAxis(-Vector3.UnitY, up);

baseIndex = index;

vertices[v++] = GetVectorByAxis(0, -halfHeight, 0, up);

vertices[v++] = normal;

vertices[v++] = GetVectorByAxis(0, -halfHeight, radius, up);

vertices[v++] = normal;

index += 2;

for (int j = 1; j < numSteps; j++)

{

float x = radius * (float)Math.Sin(j * angleStep);

float z = radius * (float)Math.Cos(j * angleStep);

vertices[v++] = GetVectorByAxis(x, -halfHeight, z, up);

vertices[v++] = normal;

indices[i++] = baseIndex;

indices[i++] = index - 1;

indices[i++] = index++;

}

indices[i++] = baseIndex;

indices[i++] = index - 1;

indices[i++] = baseIndex + 1;

normal = GetVectorByAxis(0, 0, radius, up);

normal.Normalize();

baseIndex = index;

vertices[v++] = GetVectorByAxis(0, halfHeight, 0, up);

vertices[v++] = normal;

vertices[v++] = GetVectorByAxis(0, -halfHeight, radius, up);

vertices[v++] = normal;

index += 2;

for (int j = 1; j < numSteps + 1; j++)

{

float x = radius * (float)Math.Sin(j * angleStep);

float z = radius * (float)Math.Cos(j * angleStep);

normal = GetVectorByAxis(x, 0, z, up);

normal.Normalize();

vertices[v++] = GetVectorByAxis(0, halfHeight, 0, up);

vertices[v++] = normal;

vertices[v++] = GetVectorByAxis(x, -halfHeight, z, up);

vertices[v++] = normal;

indices[i++] = index - 2;

indices[i++] = index - 1;

indices[i++] = index;

indices[i++] = index;

indices[i++] = index - 1;

indices[i++] = index + 1;

index += 2;

}

indices[i++] = index - 2;

indices[i++] = index - 1;

indices[i++] = baseIndex;

indices[i++] = baseIndex;

indices[i++] = index - 1;

indices[i] = baseIndex + 1;

return vertices;

}

public static Vector3[] CreateCylinder(CylinderShape shape, out uint[] indices)

{

int up = shape.UpAxis;

float radius = shape.Radius;

float halfHeight = shape.HalfExtentsWithoutMargin[up] + shape.Margin;

const int numSteps = 10;

const float angleStep = (2 * (float)Math.PI) / numSteps;

const int vertexCount = 2 + 6 * numSteps;

const int indexCount = (4 * numSteps + 2) * 3;

Vector3[] vertices = new Vector3[vertexCount * 2];

indices = new uint[indexCount];

int i = 0, v = 0;

uint index = 0;

uint baseIndex;

Vector3 normal;

// Draw two sides

for (int side = 1; side != -3; side -= 2)

{

normal = GetVectorByAxis(side * Vector3.UnitY, up);

baseIndex = index;

vertices[v++] = GetVectorByAxis(0, side * halfHeight, 0, up);

vertices[v++] = normal;

vertices[v++] = GetVectorByAxis(0, side * halfHeight, radius, up);

vertices[v++] = normal;

index += 2;

for (int j = 1; j < numSteps; j++)

{

float x = radius * (float)Math.Sin(j * angleStep);

float z = radius * (float)Math.Cos(j * angleStep);

vertices[v++] = GetVectorByAxis(x, side * halfHeight, z, up);

vertices[v++] = normal;

indices[i++] = baseIndex;

if (side == 1)

{

indices[i++] = index - 1;

indices[i++] = index++;

}

else

{

indices[i++] = index;

indices[i++] = index - 1;

index++;

}

}

indices[i++] = baseIndex;

if (side == 1)

{

indices[i++] = index - 1;

indices[i++] = baseIndex + 1;

}

else

{

indices[i++] = baseIndex + 1;

indices[i++] = index - 1;

}

}

normal = GetVectorByAxis(0, 0, radius, up);

normal.Normalize();

baseIndex = index;

vertices[v++] = GetVectorByAxis(0, halfHeight, radius, up);

vertices[v++] = normal;

vertices[v++] = GetVectorByAxis(0, -halfHeight, radius, up);

vertices[v++] = normal;

index += 2;

for (int j = 1; j < numSteps + 1; j++)

{

float x = radius * (float)Math.Sin(j * angleStep);

float z = radius * (float)Math.Cos(j * angleStep);

normal = GetVectorByAxis(x, 0, z, up);

normal.Normalize();

vertices[v++] = GetVectorByAxis(x, halfHeight, z, up);

vertices[v++] = normal;

vertices[v++] = GetVectorByAxis(x, -halfHeight, z, up);

vertices[v++] = normal;

indices[i++] = index - 2;

indices[i++] = index - 1;

indices[i++] = index;

indices[i++] = index;

indices[i++] = index - 1;

indices[i++] = index + 1;

index += 2;

}

indices[i++] = index - 2;

indices[i++] = index - 1;

indices[i++] = baseIndex;

indices[i++] = baseIndex;

indices[i++] = index - 1;

indices[i] = baseIndex + 1;

return vertices;

}

public static Vector3[] CreateConvexHull(ConvexHullShape shape)

{

ConvexPolyhedron poly = shape.ConvexPolyhedron;

if (poly != null)

{

throw new NotImplementedException();

}

ShapeHull hull = new ShapeHull(shape);

hull.BuildHull(shape.Margin);

int vertexCount = hull.NumIndices;

UIntArray indices = hull.Indices;

Vector3Array points = hull.Vertices;

Vector3[] vertices = new Vector3[vertexCount * 2];

int v = 0, i;

for (i = 0; i < vertexCount; i += 3)

{

Vector3 v0 = points[(int)indices[i]];

Vector3 v1 = points[(int)indices[i + 1]];

Vector3 v2 = points[(int)indices[i + 2]];

Vector3 v01 = v0 - v1;

Vector3 v02 = v0 - v2;

Vector3 normal = Vector3.Cross(v01, v02);

normal.Normalize();

vertices[v++] = v0;

vertices[v++] = normal;

vertices[v++] = v1;

vertices[v++] = normal;

vertices[v++] = v2;

vertices[v++] = normal;

}

return vertices;

}

public static Vector3[] CreateGImpactMesh(GImpactMeshShape shape)

{

DataStream vertexBuffer, indexBuffer;

int numVerts, numFaces;

PhyScalarType vertsType, indicesType;

int vertexStride, indexStride;

shape.MeshInterface.GetLockedReadOnlyVertexIndexData(out vertexBuffer, out numVerts, out vertsType, out vertexStride,

out indexBuffer, out indexStride, out numFaces, out indicesType);

Vector3[] vertices = new Vector3[numFaces * 3 * 2];

// Need to un-index the vertex buffer to make the normals right.

int v = 0;

while (indexBuffer.Position < indexBuffer.Length)

{

uint i = indexBuffer.Read<uint>();

vertexBuffer.Position = vertexStride * i;

Vector3 v0 = vertexBuffer.Read<Vector3>();

i = indexBuffer.Read<uint>();

vertexBuffer.Position = vertexStride * i;

Vector3 v1 = vertexBuffer.Read<Vector3>();

i = indexBuffer.Read<uint>();

vertexBuffer.Position = vertexStride * i;

Vector3 v2 = vertexBuffer.Read<Vector3>();

Vector3 v01 = v0 - v1;

Vector3 v02 = v0 - v2;

Vector3 normal = Vector3.Cross(v01, v02);

normal.Normalize();

vertices[v++] = v0;

vertices[v++] = normal;

vertices[v++] = v1;

vertices[v++] = normal;

vertices[v++] = v2;

vertices[v++] = normal;

}

return vertices;

}

public static Vector3[] CreateMultiSphere(MultiSphereShape shape, out uint[] indices)

{

List<Vector3[]> allVertices = new List<Vector3[]>();

List<uint[]> allIndices = new List<uint[]>();

int vertexCount = 0;

int indexCount = 0;

int i;

for (i = 0; i < shape.SphereCount; i++)

{

uint[] sphereIndices;

Vector3[] sphereVertices = CreateSphere(shape.GetSphereRadius(i), out sphereIndices);

// Adjust sphere position

Vector3 position = shape.GetSpherePosition(i);

for (int j = 0; j < sphereVertices.Length / 2; j++)

{

sphereVertices[j * 2] += position;

}

// Adjust indices

if (indexCount != 0)

{

int indexOffset = vertexCount / 2;

for (int j = 0; j < sphereIndices.Length; j++)

{

sphereIndices[j] += (uint)indexOffset;

}

}

allVertices.Add(sphereVertices);

allIndices.Add(sphereIndices);

vertexCount += sphereVertices.Length;

indexCount += sphereIndices.Length;

}

Vector3[] finalVertices = new Vector3[vertexCount];

int vo = 0;

foreach (Vector3[] v in allVertices)

{

v.CopyTo(finalVertices, vo);

vo += v.Length;

}

indices = new uint[indexCount];

int io = 0;

foreach (uint[] ind in allIndices)

{

ind.CopyTo(indices, io);

io += ind.Length;

}

return finalVertices;

}

public static Vector3[] CreateSphere(SphereShape shape, out uint[] indices)

{

return CreateSphere(shape.Radius, out indices);

}

static Vector3[] CreateSphere(float radius, out uint[] indices)

{

int slices = (int)(radius * 10.0f);

int stacks = (int)(radius * 10.0f);

slices = (slices > 16) ? 16 : (slices < 3) ? 3 : slices;

stacks = (stacks > 16) ? 16 : (stacks < 2) ? 2 : stacks;

float hAngleStep = (float)Math.PI * 2 / slices;

float vAngleStep = (float)Math.PI / stacks;

int vertexCount = 2 + slices * (stacks - 1);

int indexCount = 6 * slices * (stacks - 1);

Vector3[] vertices = new Vector3[vertexCount * 2];

indices = new uint[indexCount];

int i = 0, v = 0;

// Vertices

// Top and bottom

vertices[v++] = new Vector3(0, -radius, 0);

vertices[v++] = -Vector3.UnitY;

vertices[v++] = new Vector3(0, radius, 0);

vertices[v++] = Vector3.UnitY;

// Stacks

int j, k;

float angle = 0;

float vAngle = -(float)Math.PI / 2;

Vector3 vTemp;

for (j = 0; j < stacks - 1; j++)

{

vAngle += vAngleStep;

for (k = 0; k < slices; k++)

{

angle += hAngleStep;

vTemp = new Vector3((float)Math.Cos(vAngle) * (float)Math.Sin(angle), (float)Math.Sin(vAngle), (float)Math.Cos(vAngle) * (float)Math.Cos(angle));

vertices[v++] = vTemp * radius;

vertices[v++] = Vector3.Normalize(vTemp);

}

}

// Indices

// Top cap

ushort index = 2;

for (k = 0; k < slices; k++)

{

indices[i++] = index++;

indices[i++] = 0;

indices[i++] = index;

}

indices[i - 1] = 2;

// Stacks

//for (j = 0; j < 1; j++)

int sliceDiff = slices * 3;

for (j = 0; j < stacks - 2; j++)

{

for (k = 0; k < slices; k++)

{

indices[i] = indices[i - sliceDiff + 2];

indices[i + 1] = index++;

indices[i + 2] = indices[i - sliceDiff];

i += 3;

}

for (k = 0; k < slices; k++)

{

indices[i] = indices[i - sliceDiff + 1];

indices[i + 1] = indices[i - sliceDiff];

indices[i + 2] = indices[i - sliceDiff + 4];

i += 3;

}

indices[i - 1] = indices[i - sliceDiff];

}

// Bottom cap

index--;

for (k = 0; k < slices; k++)

{

indices[i++] = index--;

indices[i++] = 1;

indices[i++] = index;

}

indices[i - 1] = indices[i - sliceDiff];

return vertices;

}

static void PlaneSpace1(Vector3 n, out Vector3 p, out Vector3 q)

{

if (Math.Abs(n[2]) > (Math.Sqrt(2) / 2))

{

// choose p in y-z plane

float a = n[1] * n[1] + n[2] * n[2];

float k = 1.0f / (float)Math.Sqrt(a);

p = new Vector3(0, -n[2] * k, n[1] * k);

// set q = n x p

q = Vector3.Cross(n, p);

}

else

{

// choose p in x-y plane

float a = n[0] * n[0] + n[1] * n[1];

float k = 1.0f / (float)Math.Sqrt(a);

p = new Vector3(-n[1] * k, n[0] * k, 0);

// set q = n x p

q = Vector3.Cross(n, p);

}

}

public static Vector3[] CreateStaticPlane(StaticPlaneShape shape, out uint[] indices)

{

Vector3 planeOrigin = shape.PlaneNormal * shape.PlaneConstant;

Vector3 vec0, vec1;

PlaneSpace1(shape.PlaneNormal, out vec0, out vec1);

const float size = 1000;

indices = new uint[] { 1, 2, 0, 1, 3, 0 };

return new Vector3[]

{

planeOrigin + vec0*size,

shape.PlaneNormal,

planeOrigin - vec0*size,

shape.PlaneNormal,

planeOrigin + vec1*size,

shape.PlaneNormal,

planeOrigin - vec1*size,

shape.PlaneNormal

};

}

static Vector3[] CreateTriangleMesh(TriangleMeshShape shape)

{

StridingMeshInterface meshInterface = shape.MeshInterface;

BulletSharp.DataStream vertexBuffer, indexBuffer;

int numVerts, numFaces;

PhyScalarType vertsType, indicesType;

int vertexStride, indexStride;

meshInterface.GetLockedReadOnlyVertexIndexData(out vertexBuffer, out numVerts, out vertsType, out vertexStride,

out indexBuffer, out indexStride, out numFaces, out indicesType);

Vector3[] vertices = new Vector3[numFaces * 3 * 2];

// Need to un-index the vertex buffer to make the normals right.

int v = 0;

while (indexBuffer.Position < indexBuffer.Length)

{

uint i = indexBuffer.Read<uint>();

vertexBuffer.Position = vertexStride * i;

Vector3 v0 = vertexBuffer.Read<Vector3>();

i = indexBuffer.Read<uint>();

vertexBuffer.Position = vertexStride * i;

Vector3 v1 = vertexBuffer.Read<Vector3>();

i = indexBuffer.Read<uint>();

vertexBuffer.Position = vertexStride * i;

Vector3 v2 = vertexBuffer.Read<Vector3>();

Vector3 v01 = v0 - v1;

Vector3 v02 = v0 - v2;

Vector3 normal = Vector3.Cross(v01, v02);

normal.Normalize();

vertices[v++] = v0;

vertices[v++] = normal;

vertices[v++] = v1;

vertices[v++] = normal;

vertices[v++] = v2;

vertices[v++] = normal;

}

return vertices;

}

/*

public ShapeData CreateSoftBody()

{

// Soft body geometry is recreated each frame. Nothing to do here.

return new ShapeData();

}

public void UpdateSoftBody(SoftBody softBody, ShapeData shapeData)

{

AlignedFaceArray faces = softBody.Faces;

if (faces.Count != 0)

{

shapeData.VertexCount = faces.Count * 3;

Vector3[] vectors = new Vector3[shapeData.VertexCount * 2];

int v = 0;

int i;

for (i = 0; i < faces.Count; i++)

{

NodePtrArray nodes = faces[i].N;

Node n0 = nodes[0];

Node n1 = nodes[1];

Node n2 = nodes[2];

n0.GetX(out vectors[v]);

n0.GetNormal(out vectors[v + 1]);

n1.GetX(out vectors[v + 2]);

n1.GetNormal(out vectors[v + 3]);

n2.GetX(out vectors[v + 4]);

n2.GetNormal(out vectors[v + 5]);

v += 6;

}

shapeData.SetDynamicVertexBuffer(device, vectors);

}

else

{

AlignedTetraArray tetras = softBody.Tetras;

int tetraCount = tetras.Count;

if (tetraCount != 0)

{

shapeData.VertexCount = tetraCount * 12;

Vector3[] vectors = new Vector3[tetraCount * 24];

int v = 0;

for (int i = 0; i < tetraCount; i++)

{

NodePtrArray nodes = tetras[i].Nodes;

Vector3 v0 = nodes[0].X;

Vector3 v1 = nodes[1].X;

Vector3 v2 = nodes[2].X;

Vector3 v3 = nodes[3].X;

Vector3 v10 = v1 - v0;

Vector3 v02 = v0 - v2;

Vector3 normal = Vector3.Cross(v10, v02);

vectors[v] = v0;

vectors[v + 1] = normal;

vectors[v + 2] = v1;

vectors[v + 3] = normal;

vectors[v + 4] = v2;

vectors[v + 5] = normal;

normal = Vector3.Cross(v10, v3 - v0);

vectors[v + 6] = v0;

vectors[v + 7] = normal;

vectors[v + 8] = v1;

vectors[v + 9] = normal;

vectors[v + 10] = v3;

vectors[v + 11] = normal;

normal = Vector3.Cross(v2 - v1, v3 - v1);

vectors[v + 12] = v1;

vectors[v + 13] = normal;

vectors[v + 14] = v2;

vectors[v + 15] = normal;

vectors[v + 16] = v3;

vectors[v + 17] = normal;

normal = Vector3.Cross(v02, v3 - v2);

vectors[v + 18] = v2;

vectors[v + 19] = normal;

vectors[v + 20] = v0;

vectors[v + 21] = normal;

vectors[v + 22] = v3;

vectors[v + 23] = normal;

v += 24;

}

shapeData.SetDynamicVertexBuffer(device, vectors);

}

else if (softBody.Links.Count != 0)

{

AlignedLinkArray links = softBody.Links;

int linkCount = links.Count;

shapeData.VertexCount = linkCount * 2;

Vector3[] vectors = new Vector3[linkCount * 4];

for (int i = 0; i < linkCount; i++)

{

NodePtrArray nodes = links[i].Nodes;

nodes[0].GetX(out vectors[i * 4]);

nodes[1].GetX(out vectors[i * 4 + 2]);

}

shapeData.PrimitiveTopology = PrimitiveTopology.LineList;

shapeData.SetDynamicVertexBuffer(device, vectors);

}

else

{

throw new NotImplementedException();

}

}

}

*/

/*

public void RenderSoftBodyTextured(SoftBody softBody)

{

if (!(softBody.UserObject is Array))

return;

object[] userObjArr = softBody.UserObject as object[];

FloatArray vertexBuffer = userObjArr[0] as FloatArray;

IntArray indexBuffer = userObjArr[1] as IntArray;

int vertexCount = (vertexBuffer.Count / 8);

if (vertexCount > 0)

{

int faceCount = indexBuffer.Count / 2;

bool index32 = vertexCount > 65536;

Mesh mesh = new Mesh(device, faceCount, vertexCount,

MeshFlags.SystemMemory | (index32 ? MeshFlags.Use32Bit : 0),

VertexFormat.Position | VertexFormat.Normal | VertexFormat.Texture1);

SlimDX.DataStream indices = mesh.LockIndexBuffer(LockFlags.Discard);

if (index32)

{

foreach (int i in indexBuffer)

indices.Write(i);

}

else

{

foreach (int i in indexBuffer)

indices.Write((ushort)i);

}

mesh.UnlockIndexBuffer();

SlimDX.DataStream verts = mesh.LockVertexBuffer(LockFlags.Discard);

foreach (float f in vertexBuffer)

verts.Write(f);

mesh.UnlockVertexBuffer();

mesh.ComputeNormals();

mesh.DrawSubset(0);

mesh.Dispose();

}

}

*/

}