private static ConvexHullShape CreateTaruShape()
{
var shape = new ConvexHullShape();
for (int i = 0; i < Taru.Vertices.Length / 3; i++)
{
Vector3 vertex = new Vector3(
Taru.Vertices[i * 3],
Taru.Vertices[i * 3 + 1],
Taru.Vertices[i * 3 + 2]);
shape.AddPoint(vertex);
}
return(shape);
}
private static CollisionShape loadConvexHull(Mesh mesh, Vector3 scale)
{
TriangleMesh trimesh = new TriangleMesh();
// Shift vertices in so margin is not visible
Vector3 shift = Vector3.Normalize(scale) - new Vector3(0.04f);
for (int i = 0; i < mesh.submeshes[0].vertex_data.Length; i += 3)
{
int index0 = (int)mesh.submeshes[0].index_data[i];
int index1 = (int)mesh.submeshes[0].index_data[i + 1];
int index2 = (int)mesh.submeshes[0].index_data[i + 2];
Vector3 vertex0 = new Vector3(mesh.submeshes[0].vertex_data[index0].position.X, mesh.submeshes[0].vertex_data[index0].position.Y, mesh.submeshes[0].vertex_data[index0].position.Z) * (scale);
//vertex0 *= shift;
Vector3 vertex1 = new Vector3(mesh.submeshes[0].vertex_data[index1].position.X, mesh.submeshes[0].vertex_data[index1].position.Y, mesh.submeshes[0].vertex_data[index1].position.Z) * (scale);
//vertex1 *= shift;
Vector3 vertex2 = new Vector3(mesh.submeshes[0].vertex_data[index2].position.X, mesh.submeshes[0].vertex_data[index2].position.Y, mesh.submeshes[0].vertex_data[index2].position.Z) * (scale);
//vertex2 *= shift;
trimesh.AddTriangle(vertex0, vertex1, vertex2);
}
ConvexShape tmpShape = new ConvexTriangleMeshShape(trimesh);
ShapeHull hull = new ShapeHull(tmpShape);
float margin = tmpShape.Margin;
hull.BuildHull(margin);
tmpShape.UserObject = hull;
ConvexHullShape convexShape = new ConvexHullShape();
foreach (Vector3 v in hull.Vertices)
{
convexShape.AddPoint(v);
}
hull.Dispose();
tmpShape.Dispose();
return(convexShape);
}
protected override void OnInitializePhysics()
{
ManifoldPoint.ContactAdded += MyContactCallback;
SetupEmptyDynamicsWorld();
WavefrontObj wo = new WavefrontObj();
int tcount = wo.LoadObj("data/file.obj");
if (tcount > 0)
{
TriangleMesh trimesh = new TriangleMesh();
trimeshes.Add(trimesh);
Vector3 localScaling = new Vector3(6, 6, 6);
List <int> indices = wo.Indices;
List <Vector3> vertices = wo.Vertices;
int i;
for (i = 0; i < tcount; i++)
{
int index0 = indices[i * 3];
int index1 = indices[i * 3 + 1];
int index2 = indices[i * 3 + 2];
Vector3 vertex0 = vertices[index0] * localScaling;
Vector3 vertex1 = vertices[index1] * localScaling;
Vector3 vertex2 = vertices[index2] * localScaling;
trimesh.AddTriangle(vertex0, vertex1, vertex2);
}
ConvexShape tmpConvexShape = new ConvexTriangleMeshShape(trimesh);
//create a hull approximation
ShapeHull hull = new ShapeHull(tmpConvexShape);
float margin = tmpConvexShape.Margin;
hull.BuildHull(margin);
tmpConvexShape.UserObject = hull;
ConvexHullShape convexShape = new ConvexHullShape();
foreach (Vector3 v in hull.Vertices)
{
convexShape.AddPoint(v);
}
if (sEnableSAT)
{
convexShape.InitializePolyhedralFeatures();
}
tmpConvexShape.Dispose();
//hull.Dispose();
CollisionShapes.Add(convexShape);
float mass = 1.0f;
LocalCreateRigidBody(mass, Matrix.Translation(0, 2, 14), convexShape);
const bool useQuantization = true;
CollisionShape concaveShape = new BvhTriangleMeshShape(trimesh, useQuantization);
LocalCreateRigidBody(0, Matrix.Translation(convexDecompositionObjectOffset), concaveShape);
CollisionShapes.Add(concaveShape);
// Bullet Convex Decomposition
FileStream outputFile = new FileStream("file_convex.obj", FileMode.Create, FileAccess.Write);
StreamWriter writer = new StreamWriter(outputFile);
DecompDesc desc = new DecompDesc
{
mVertices = wo.Vertices.ToArray(),
mTcount = tcount,
mIndices = wo.Indices.ToArray(),
mDepth = 5,
mCpercent = 5,
mPpercent = 15,
mMaxVertices = 16,
mSkinWidth = 0.0f
};
MyConvexDecomposition convexDecomposition = new MyConvexDecomposition(writer, this);
desc.mCallback = convexDecomposition;
// HACD
Hacd myHACD = new Hacd();
myHACD.SetPoints(wo.Vertices);
myHACD.SetTriangles(wo.Indices);
myHACD.CompacityWeight = 0.1;
myHACD.VolumeWeight = 0.0;
// HACD parameters
// Recommended parameters: 2 100 0 0 0 0
int nClusters = 2;
const double concavity = 100;
//bool invert = false;
const bool addExtraDistPoints = false;
const bool addNeighboursDistPoints = false;
const bool addFacesPoints = false;
myHACD.NClusters = nClusters; // minimum number of clusters
myHACD.VerticesPerConvexHull = 100; // max of 100 vertices per convex-hull
myHACD.Concavity = concavity; // maximum concavity
myHACD.AddExtraDistPoints = addExtraDistPoints;
myHACD.AddNeighboursDistPoints = addNeighboursDistPoints;
myHACD.AddFacesPoints = addFacesPoints;
myHACD.Compute();
nClusters = myHACD.NClusters;
myHACD.Save("output.wrl", false);
if (true)
{
CompoundShape compound = new CompoundShape();
CollisionShapes.Add(compound);
Matrix trans = Matrix.Identity;
for (int c = 0; c < nClusters; c++)
{
//generate convex result
Vector3[] points;
int[] triangles;
myHACD.GetCH(c, out points, out triangles);
ConvexResult r = new ConvexResult(points, triangles);
convexDecomposition.ConvexDecompResult(r);
}
for (i = 0; i < convexDecomposition.convexShapes.Count; i++)
{
Vector3 centroid = convexDecomposition.convexCentroids[i];
trans = Matrix.Translation(centroid);
ConvexHullShape convexShape2 = convexDecomposition.convexShapes[i] as ConvexHullShape;
compound.AddChildShape(trans, convexShape2);
RigidBody body = LocalCreateRigidBody(1.0f, trans, convexShape2);
}
#if true
mass = 10.0f;
trans = Matrix.Translation(-convexDecompositionObjectOffset);
RigidBody body2 = LocalCreateRigidBody(mass, trans, compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = 6;
trans = Matrix.Translation(-convexDecompositionObjectOffset);
body2 = LocalCreateRigidBody(mass, trans, compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = -6;
trans = Matrix.Translation(-convexDecompositionObjectOffset);
body2 = LocalCreateRigidBody(mass, trans, compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
#endif
}
writer.Dispose();
outputFile.Dispose();
}
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
DefaultCollisionConstructionInfo cci = new DefaultCollisionConstructionInfo();
cci.DefaultMaxPersistentManifoldPoolSize = 32768;
CollisionConf = new DefaultCollisionConfiguration(cci);
Dispatcher = new CollisionDispatcher(CollisionConf);
Dispatcher.DispatcherFlags = DispatcherFlags.DisableContactPoolDynamicAllocation;
// the maximum size of the collision world. Make sure objects stay within these boundaries
// Don't make the world AABB size too large, it will harm simulation quality and performance
Vector3 worldAabbMin = new Vector3(-1000, -1000, -1000);
Vector3 worldAabbMax = new Vector3(1000, 1000, 1000);
HashedOverlappingPairCache pairCache = new HashedOverlappingPairCache();
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, 3500, pairCache);
//Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.SolverInfo.SolverMode |= SolverModes.EnableFrictionDirectionCaching;
World.SolverInfo.NumIterations = 5;
if (benchmark < 5)
{
// create the ground
CollisionShape groundShape = new BoxShape(250, 50, 250);
CollisionShapes.Add(groundShape);
CollisionObject ground = base.LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
}
float cubeSize = 1.0f;
float spacing = cubeSize;
float mass = 1.0f;
int size = 8;
Vector3 pos = new Vector3(0.0f, cubeSize * 2, 0.0f);
float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
switch (benchmark)
{
case 1:
// 3000
BoxShape blockShape = new BoxShape(cubeSize - collisionRadius);
mass = 2.0f;
for (int k = 0; k < 20; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
RigidBody cmbody = LocalCreateRigidBody(mass, Matrix.Translation(pos), blockShape);
}
}
offset -= 0.05f * spacing * (size - 1);
// spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 2:
CreatePyramid(new Vector3(-20, 0, 0), 12, new Vector3(cubeSize));
CreateWall(new Vector3(-2.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(4.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(10.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateTowerCircle(new Vector3(25.0f, 0.0f, 0.0f), 8, 24, new Vector3(cubeSize));
break;
case 3:
// TODO: Ragdolls
break;
case 4:
cubeSize = 1.5f;
ConvexHullShape convexHullShape = new ConvexHullShape();
float scaling = 1;
convexHullShape.LocalScaling = new Vector3(scaling);
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx * (1.0f / scaling));
}
//this will enable polyhedral contact clipping, better quality, slightly slower
convexHullShape.InitializePolyhedralFeatures();
for (int k = 0; k < 15; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
LocalCreateRigidBody(mass, Matrix.Translation(pos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 5:
Vector3 boxSize = new Vector3(1.5f);
float boxMass = 1.0f;
float sphereRadius = 1.5f;
float sphereMass = 1.0f;
float capsuleHalf = 2.0f;
float capsuleRadius = 1.0f;
float capsuleMass = 1.0f;
size = 10;
int height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
int numBodies = 0;
Random random = new Random();
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
int idx = random.Next(10);
Matrix trans = Matrix.Translation(bpos);
switch (idx)
{
case 0:
case 1:
case 2:
{
float r = 0.5f * (idx + 1);
BoxShape boxShape = new BoxShape(boxSize * r);
LocalCreateRigidBody(boxMass * r, trans, boxShape);
}
break;
case 3:
case 4:
case 5:
{
float r = 0.5f * (idx - 3 + 1);
SphereShape sphereShape = new SphereShape(sphereRadius * r);
LocalCreateRigidBody(sphereMass * r, trans, sphereShape);
}
break;
case 6:
case 7:
case 8:
{
float r = 0.5f * (idx - 6 + 1);
CapsuleShape capsuleShape = new CapsuleShape(capsuleRadius * r, capsuleHalf * r);
LocalCreateRigidBody(capsuleMass * r, trans, capsuleShape);
}
break;
}
numBodies++;
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 6:
boxSize = new Vector3(1.5f, 1.5f, 1.5f);
convexHullShape = new ConvexHullShape();
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx);
}
size = 10;
height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
LocalCreateRigidBody(mass, Matrix.Translation(bpos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 7:
// TODO
//CreateTest6();
//InitRays();
break;
}
}
public override void InitializeDemo()
{
SetCameraDistance(50);
int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);
int vertStride = 1;
int indexStride = 3;
BulletGlobals.gContactAddedCallback = new CustomMaterialCombinerCallback();
gVertices = new ObjectArray <IndexedVector3>(totalVerts);
gIndices = new ObjectArray <int>(totalTriangles * 3);
SetVertexPositions(waveheight, 0.0f);
gVertices.GetRawArray()[1].Y = 0.1f;
int index = 0;
int i, j;
for (i = 0; i < NUM_VERTS_X - 1; i++)
{
for (j = 0; j < NUM_VERTS_Y - 1; j++)
{
#if SWAP_WINDING
#if SHIFT_INDICES
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
#else
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i;
#endif //SHIFT_INDICES
#else //SWAP_WINDING
#if SHIFT_INDICES
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = j * NUM_VERTS_X + i + 1;
#if TEST_INCONSISTENT_WINDING
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
#else //TEST_INCONSISTENT_WINDING
gIndices[index++] = (j + 1) * NUM_VERTS_X + i;
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
#endif //TEST_INCONSISTENT_WINDING
#else //SHIFT_INDICES
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = j * NUM_VERTS_X + i + 1;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i;
#endif //SHIFT_INDICES
#endif //SWAP_WINDING
}
}
m_indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts, gVertices, vertStride);
bool useQuantizedAabbCompression = true;
IndexedVector3 aabbMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 aabbMax = new IndexedVector3(1000, 1000, 1000);
trimeshShape = new BvhTriangleMeshShape(m_indexVertexArrays, useQuantizedAabbCompression, ref aabbMin, ref aabbMax, true);
CollisionShape groundShape = trimeshShape;
TriangleInfoMap triangleInfoMap = new TriangleInfoMap();
InternalEdgeUtility.GenerateInternalEdgeInfo(trimeshShape, triangleInfoMap);
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
m_dynamicsWorld.SetDebugDrawer(m_debugDraw);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
float mass = 0.0f;
IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -2, 0));
ConvexHullShape colShape = new ConvexHullShape(new List <IndexedVector3>(), 0);
for (int k = 0; k < DemoMeshes.TaruVtxCount; k++)
{
IndexedVector3 vtx = DemoMeshes.TaruVtx[k];
colShape.AddPoint(ref vtx);
}
//this will enable polyhedral contact clipping, better quality, slightly slower
//colShape.InitializePolyhedralFeatures();
//the polyhedral contact clipping can use either GJK or SAT test to find the separating axis
m_dynamicsWorld.GetDispatchInfo().m_enableSatConvex = false;
{
//for (int i2 = 0; i2 < 1; i2++)
//{
// startTransform._origin = new IndexedVector3(-10.0f + i2 * 3.0f, 2.2f + i2 * 0.1f, -1.3f);
// RigidBody body = LocalCreateRigidBody(10, startTransform, colShape);
// body.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// body.SetLinearVelocity(new IndexedVector3(0, 0, -1));
// //body->setContactProcessingThreshold(0.f);
//}
}
{
BoxShape colShape2 = new BoxShape(new IndexedVector3(1, 1, 1));
//colShape.InitializePolyhedralFeatures();
m_collisionShapes.Add(colShape2);
startTransform._origin = new IndexedVector3(-16.0f + i * 3.0f, 1.0f + i * 0.1f, -1.3f);
RigidBody body = LocalCreateRigidBody(10, startTransform, colShape2);
body.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
body.SetLinearVelocity(new IndexedVector3(0, 0, -1));
}
startTransform = IndexedMatrix.Identity;
staticBody = LocalCreateRigidBody(mass, startTransform, groundShape);
//staticBody->setContactProcessingThreshold(-0.031f);
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT); //STATIC_OBJECT);
//enable custom material callback
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
m_debugDraw.SetDebugMode(DebugDrawModes.DBG_DrawText | DebugDrawModes.DBG_NoHelpText | DebugDrawModes.DBG_DrawWireframe | DebugDrawModes.DBG_DrawContactPoints);
//base.InitializeDemo();
//ClientResetScene();
}
/// <summary>
/// Adds the point.
/// </summary>
/// <param name="point">The point.</param>
public void AddPoint(float3 point)
{
var btPoint = Translator.Float3ToBtVector3(point);
BtConvexHullShape.AddPoint(btPoint, true);
}
