private CommonGeometry[] GetShapeGeometry(IConvexHullEngine convexHullEngine)
{
AABB region = AABB.GetGeometryAABB(Geometry.VerticesPosition, this);
Vertex3Index[] verticesIndex = new Vertex3Index[Geometry.VerticesPosition.Length];
for (int i = 0; i < Geometry.VerticesPosition.Length; i++)
{
verticesIndex[i] = new Vertex3Index(Geometry.VerticesPosition[i], Geometry.VerticesIdx[i].GetGlobalAdjacencyList(), i);
}
ConvexDecompositionEngine convexDecomposition = new ConvexDecompositionEngine(region, verticesIndex, 0.2);
var convexShapes = convexDecomposition.Execute().GetConvexShapeList(true);
var ConvexShapesGeometry = new CommonGeometry[convexShapes.Count];
for (int i = 0; i < convexShapes.Count; i++)
{
ConvexHullData convexHullData = convexHullEngine.GetConvexHull(convexShapes[i].Vertex3Idx.ToArray());
var verticesIdx = Array.ConvertAll(convexHullData.Vertices, x => x.ID);
ConvexShapesGeometry[i] = new CommonGeometry(null, convexHullData.TriangleMeshes, verticesIdx);
}
return(ConvexShapesGeometry);
}
private List <CollisionPointStructure> SoftBodyCollisionStep(
ISoftShape softShapeA,
ISoftShape softShapeB)
{
var result = new List <CollisionPointStructure>();
var shapeA = (IShape)softShapeA;
var shapeB = (IShape)softShapeB;
var convexDecompositionA = new ConvexDecompositionEngine(
shapeA.AABBox,
Array.ConvertAll(softShapeA.ShapePoints, item => new Vertex3Index(item.Position, item.TriangleIndex, item.ID)),
softShapeA.DecompositionParameter);
var convexDecompositionB = new ConvexDecompositionEngine(
shapeB.AABBox,
Array.ConvertAll(softShapeB.ShapePoints, item => new Vertex3Index(item.Position, item.TriangleIndex, item.ID)),
softShapeB.DecompositionParameter);
List <ShapeDecompositionOutput> decompConvexShapeA = convexDecompositionA.Execute().GetConvexShapeList(true);
List <ShapeDecompositionOutput> decompConvexShapeB = convexDecompositionB.Execute().GetConvexShapeList(true);
AABB[][] boxCollision = new AABB[2][];
boxCollision[0] = Array.ConvertAll(decompConvexShapeA.ToArray(), x => x.Region);
boxCollision[1] = Array.ConvertAll(decompConvexShapeB.ToArray(), x => x.Region);
List <CollisionPair> collisionPair = broadPhaseCollisionEngine.Execute(
boxCollision[0],
boxCollision[1],
parameters.CollisionDistance);
var lockMe = new object();
Parallel.ForEach(
collisionPair,
new ParallelOptions {
MaxDegreeOfParallelism = parameters.MaxThreadNumber
},
pair =>
{
CollisionPointStructure collisionPointStruct = SoftBodyNarrowPhase(
decompConvexShapeA[pair.objectIndexA],
decompConvexShapeB[pair.objectIndexB],
shapeA.ID,
shapeB.ID);
if (collisionPointStruct != null)
{
lock (lockMe)
{
result.Add(collisionPointStruct);
}
}
});
return(result);
}
private void GenerateConvexShapes(IConvexHullEngine convexHullEngine)
{
AABB box = AABB.GetGeometryAABB(positions, this);
var vertex3Idx = SetVertexAdjacency(positions, triangleMeshes);
ConvexDecompositionEngine convexDecomposition = new ConvexDecompositionEngine(box, vertex3Idx, 0.7);
convexShapes = convexDecomposition.Execute().GetConvexShapeList(true);
}
//Manca gestione compuondShape
private List <CollisionPointStructure> Rigid_SoftBodyCollisionDetection(
IShape rigidShape,
ISoftShape softShape)
{
var shapeSoft = (IShape)softShape;
List <CollisionPointStructure> collisionPointStructure = new List <CollisionPointStructure>();
ConvexDecompositionEngine convexDecomposition = new ConvexDecompositionEngine(
shapeSoft.AABBox,
Array.ConvertAll(softShape.ShapePoints, item => new Vertex3Index(item.Position, item.TriangleIndex, item.ID)),
softShape.DecompositionParameter);
List <ShapeDecompositionOutput> shapeOutput = convexDecomposition.Execute().GetIntersectedShape(
rigidShape.AABBox,
parameters.CollisionDistance,
true);
if (shapeOutput != null)
{
IGeometry[] convexShapeGeometry = ShapeDefinition.Helper.GetGeometry(rigidShape);
foreach (var convexGeometry in convexShapeGeometry)
{
VertexProperties[] convexVertexObj = Helper.SetVertexPosition(convexGeometry);
foreach (var softConvexShape in shapeOutput)
{
VertexProperties[] vertexObjSoftShape = Array.ConvertAll(softConvexShape.Vertex3Idx.ToArray(), x => new VertexProperties(x.Vector3, x.ID));
var cps = convexBodyNarrowPhase.Execute(convexVertexObj, vertexObjSoftShape, rigidShape.ID, shapeSoft.ID, parameters.CollisionDistance);
if (cps != null)
{
collisionPointStructure.Add(cps);
}
}
}
}
return(collisionPointStructure);
}
