public static void GetShapeMeshData(EntityCollidable collidable, List <VertexPositionNormalTexture> vertices, List <ushort> indices)
{
var convexHullShape = collidable.Shape as ConvexHullShape;
if (convexHullShape == null)
{
throw new ArgumentException("Wrong shape type.");
}
var hullTriangleVertices = new List <Vector3>();
var hullTriangleIndices = new List <int>();
ConvexHullHelper.GetConvexHull(convexHullShape.Vertices, hullTriangleIndices, hullTriangleVertices);
//The hull triangle vertices are used as a dummy to get the unnecessary hull vertices, which are cleared afterwards.
hullTriangleVertices.Clear();
foreach (int i in hullTriangleIndices)
{
hullTriangleVertices.Add(convexHullShape.Vertices[i]);
}
var toReturn = new VertexPositionNormalTexture[hullTriangleVertices.Count];
Vector3 normal;
for (ushort i = 0; i < hullTriangleVertices.Count; i += 3)
{
normal = (Vector3.Normalize(Vector3.Cross(hullTriangleVertices[i + 2] - hullTriangleVertices[i], hullTriangleVertices[i + 1] - hullTriangleVertices[i])));
vertices.Add(new VertexPositionNormalTexture((hullTriangleVertices[i]), normal, new Vector2(0, 0)));
vertices.Add(new VertexPositionNormalTexture((hullTriangleVertices[i + 1]), normal, new Vector2(1, 0)));
vertices.Add(new VertexPositionNormalTexture((hullTriangleVertices[i + 2]), normal, new Vector2(0, 1)));
indices.Add(i);
indices.Add((ushort)(i + 1));
indices.Add((ushort)(i + 2));
}
}
/// <summary>
/// Solve A * x = b, where b is a column vector. This is more efficient
/// than computing the inverse in one-shot cases.
/// </summary>
/// <param name="b">The b.</param>
/// <returns></returns>
public Vector3 Solve33(Vector3 b)
{
float det = Vector3.Dot(ex, Vector3.Cross(ey, ez));
if (det != 0.0f)
{
det = 1.0f / det;
}
return(new Vector3(det * Vector3.Dot(b, Vector3.Cross(ey, ez)), det * Vector3.Dot(ex, Vector3.Cross(b, ez)), det * Vector3.Dot(ex, Vector3.Cross(ey, b))));
}
public static Vector3 Cross(Vector3 a, Vector3 b)
{
return(new Vector3(MonoGameVector3.Cross(a.MonoGameVector, b.MonoGameVector)));
}
public static Vector3 Cross(Vector3 v1, Vector3 v2)
{
return(new Vector3(Vector.Cross(v1, v2)));
}