protected override void OnRender()
{
Device.Clear(ClearFlags.Target | ClearFlags.ZBuffer, Color.LightGray, 1.0f, 0);
Device.BeginScene();
Device.SetTransform(TransformState.View, Freelook.View);
foreach (RigidBody body in PhysicsContext.World.CollisionObjectArray)
{
Device.SetTransform(TransformState.World, body.WorldTransform);
RenderWithMaterial(body);
if (Physics.HasDistanceResult)
{
Device.Material = ActiveMaterial;
Device.SetTransform(TransformState.World, Matrix.Identity);
PositionColored[] vertices = new PositionColored[2];
vertices[0] = new PositionColored(Physics.distanceFrom, -1);
vertices[1] = new PositionColored(Physics.distanceTo, -1);
Device.DrawUserPrimitives(PrimitiveType.LineList, 1, vertices);
}
}
DebugDrawWorld();
Fps.Text = string.Format(
"Move using mouse and WASD+shift\n" +
"F3 - Toggle debug\n" +
"F11 - Toggle fullscreen\n" +
"Distance: {0}", Physics.distance.ToString("0.00"));
Fps.OnRender(FramesPerSecond);
Device.EndScene();
Device.Present();
}
public static void DrawLine(Vector3 from, Vector3 to, System.Drawing.Color color)
{
var vertices = new PositionColored[2];
vertices[0] = new PositionColored(Vector3.Zero, color.ToArgb());
from = from.SwitchYZ();
to = to.SwitchYZ();
vertices[1] = new PositionColored(to - from, color.ToArgb());
InternalRender(from);
Drawing.Direct3DDevice.DrawUserPrimitives(PrimitiveType.LineList, vertices.Length / 2, vertices);
}
public static void DrawLine(Vector3 from, Vector3 to, System.Drawing.Color color)
{
var vertices = new PositionColored[2];
vertices[0] = new PositionColored(Vector3.Zero, color.ToArgb());
from = from.LSSwitchYZ();
to = to.LSSwitchYZ();
vertices[1] = new PositionColored(to - from, color.ToArgb());
InternalRender(from);
Drawing.Direct3DDevice.DrawUserPrimitives(PrimitiveType.LineList, vertices.Length / 2, vertices);
}
public void RenderSoftBody(SoftBody softBody)
{
Cull cullMode = device.GetRenderState <Cull>(RenderState.CullMode);
device.SetRenderState(RenderState.CullMode, Cull.None);
AlignedFaceArray faces = softBody.Faces;
int faceCount = faces.Count;
if (faceCount > 0)
{
PositionedNormal[] vectors = new PositionedNormal[faceCount * 6];
int v = 0;
int i;
for (i = 0; i < faceCount; i++)
{
NodePtrArray nodes = faces[i].N;
Node n0 = nodes[0];
Node n1 = nodes[1];
Node n2 = nodes[2];
n0.GetX(out vectors[v].Position);
n0.GetNormal(out vectors[v].Normal);
n1.GetX(out vectors[v + 1].Position);
n1.GetNormal(out vectors[v + 1].Normal);
n2.GetX(out vectors[v + 2].Position);
n2.GetNormal(out vectors[v + 2].Normal);
v += 3;
}
device.VertexFormat = VertexFormat.PositionNormal;
device.DrawUserPrimitives(PrimitiveType.TriangleList, faces.Count, vectors);
}
else
{
AlignedTetraArray tetras = softBody.Tetras;
int tetraCount = tetras.Count;
if (tetraCount > 0)
{
PositionedNormal[] vectors = new PositionedNormal[tetraCount * 12];
int v = 0;
for (int i = 0; i < tetraCount; i++)
{
NodePtrArray nodes = tetras[i].Nodes;
BulletSharp.Vector3 v0 = nodes[0].X;
BulletSharp.Vector3 v1 = nodes[1].X;
BulletSharp.Vector3 v2 = nodes[2].X;
BulletSharp.Vector3 v3 = nodes[3].X;
BulletSharp.Vector3 v10 = v1 - v0;
BulletSharp.Vector3 v02 = v0 - v2;
BulletSharp.Vector3 normal = BulletSharp.Vector3.Cross(v10, v02);
normal.Normalize();
vectors[v].Position = v0;
vectors[v].Normal = normal;
vectors[v + 1].Position = v1;
vectors[v + 1].Normal = normal;
vectors[v + 2].Position = v2;
vectors[v + 2].Normal = normal;
normal = BulletSharp.Vector3.Cross(v10, v3 - v0);
normal.Normalize();
vectors[v + 3].Position = v0;
vectors[v + 3].Normal = normal;
vectors[v + 4].Position = v1;
vectors[v + 4].Normal = normal;
vectors[v + 5].Position = v3;
vectors[v + 5].Normal = normal;
normal = BulletSharp.Vector3.Cross(v2 - v1, v3 - v1);
normal.Normalize();
vectors[v + 6].Position = v1;
vectors[v + 6].Normal = normal;
vectors[v + 7].Position = v2;
vectors[v + 7].Normal = normal;
vectors[v + 8].Position = v3;
vectors[v + 8].Normal = normal;
normal = BulletSharp.Vector3.Cross(v02, v3 - v2);
normal.Normalize();
vectors[v + 9].Position = v2;
vectors[v + 9].Normal = normal;
vectors[v + 10].Position = v0;
vectors[v + 10].Normal = normal;
vectors[v + 11].Position = v3;
vectors[v + 11].Normal = normal;
v += 12;
}
device.VertexFormat = VertexFormat.PositionNormal;
device.DrawUserPrimitives(PrimitiveType.TriangleList, tetraCount * 4, vectors);
}
else if (softBody.Links.Count > 0)
{
AlignedLinkArray links = softBody.Links;
int linkCount = links.Count;
int linkColor = System.Drawing.Color.Black.ToArgb();
device.VertexFormat = VertexFormat.Position | VertexFormat.Diffuse;
PositionColored[] linkArray = new PositionColored[linkCount * 2];
for (int i = 0; i < linkCount; i++)
{
Link link = links[i];
linkArray[i * 2].Position = link.Nodes[0].X;
linkArray[i * 2].Color = linkColor;
linkArray[i * 2 + 1].Position = link.Nodes[1].X;
linkArray[i * 2 + 1].Color = linkColor;
}
device.DrawUserPrimitives(PrimitiveType.LineList, links.Count, linkArray);
}
}
device.SetRenderState(RenderState.CullMode, cullMode);
}
void InitLineBuffer(RenderContext renderContext)
{
if (renderContext.gl != null)
{
if (lineBuffers.Count == 0)
{
int count = linePoints.Count;
PositionColoredVertexBuffer lineBuffer = null;
PositionColored[] linePointList = null;
localCenter = new Vector3d();
if (DepthBuffered)
{
// compute the local center..
foreach (Vector3d point in linePoints)
{
localCenter.Add(point);
}
localCenter.X /= count;
localCenter.Y /= count;
localCenter.Z /= count;
}
int countLeft = count;
int index = 0;
int counter = 0;
Vector3d temp;
foreach (Vector3d point in linePoints)
{
if (counter >= 100000 || linePointList == null)
{
if (lineBuffer != null)
{
lineBuffer.Unlock();
}
int thisCount = Math.Min(100000, countLeft);
countLeft -= thisCount;
lineBuffer = new PositionColoredVertexBuffer(thisCount);
linePointList = lineBuffer.Lock(); // Lock the buffer (which will return our structs)
lineBuffers.Add(lineBuffer);
lineBufferCounts.Add(thisCount);
counter = 0;
}
if (UseLocalCenters)
{
temp = Vector3d.SubtractVectors(point, localCenter);
linePointList[counter] = new PositionColored(temp, lineColors[index]);
}
else
{
linePointList[counter] = new PositionColored(point, lineColors[index]);
}
index++;
counter++;
}
if (lineBuffer != null)
{
lineBuffer.Unlock();
}
}
}
}
public void RenderSoftBody(SoftBody softBody)
{
Cull cullMode = device.GetRenderState<Cull>(RenderState.CullMode);
device.SetRenderState(RenderState.CullMode, Cull.None);
AlignedFaceArray faces = softBody.Faces;
int faceCount = faces.Count;
if (faceCount > 0)
{
PositionedNormal[] vectors = new PositionedNormal[faceCount * 6];
int v = 0;
int i;
for (i = 0; i < faceCount; i++)
{
NodePtrArray nodes = faces[i].N;
Node n0 = nodes[0];
Node n1 = nodes[1];
Node n2 = nodes[2];
n0.GetX(out vectors[v].Position);
n0.GetNormal(out vectors[v].Normal);
n1.GetX(out vectors[v + 1].Position);
n1.GetNormal(out vectors[v + 1].Normal);
n2.GetX(out vectors[v + 2].Position);
n2.GetNormal(out vectors[v + 2].Normal);
v += 3;
}
device.VertexFormat = VertexFormat.PositionNormal;
device.DrawUserPrimitives(PrimitiveType.TriangleList, faces.Count, vectors);
}
else
{
AlignedTetraArray tetras = softBody.Tetras;
int tetraCount = tetras.Count;
if (tetraCount > 0)
{
PositionedNormal[] vectors = new PositionedNormal[tetraCount * 12];
int v = 0;
for (int i = 0; i < tetraCount; i++)
{
NodePtrArray nodes = tetras[i].Nodes;
BulletSharp.Vector3 v0 = nodes[0].X;
BulletSharp.Vector3 v1 = nodes[1].X;
BulletSharp.Vector3 v2 = nodes[2].X;
BulletSharp.Vector3 v3 = nodes[3].X;
BulletSharp.Vector3 v10 = v1 - v0;
BulletSharp.Vector3 v02 = v0 - v2;
BulletSharp.Vector3 normal = BulletSharp.Vector3.Cross(v10, v02);
normal.Normalize();
vectors[v].Position = v0;
vectors[v].Normal = normal;
vectors[v + 1].Position = v1;
vectors[v + 1].Normal = normal;
vectors[v + 2].Position = v2;
vectors[v + 2].Normal = normal;
normal = BulletSharp.Vector3.Cross(v10, v3 - v0);
normal.Normalize();
vectors[v + 3].Position = v0;
vectors[v + 3].Normal = normal;
vectors[v + 4].Position = v1;
vectors[v + 4].Normal = normal;
vectors[v + 5].Position = v3;
vectors[v + 5].Normal = normal;
normal = BulletSharp.Vector3.Cross(v2 - v1, v3 - v1);
normal.Normalize();
vectors[v + 6].Position = v1;
vectors[v + 6].Normal = normal;
vectors[v + 7].Position = v2;
vectors[v + 7].Normal = normal;
vectors[v + 8].Position = v3;
vectors[v + 8].Normal = normal;
normal = BulletSharp.Vector3.Cross(v02, v3 - v2);
normal.Normalize();
vectors[v + 9].Position = v2;
vectors[v + 9].Normal = normal;
vectors[v + 10].Position = v0;
vectors[v + 10].Normal = normal;
vectors[v + 11].Position = v3;
vectors[v + 11].Normal = normal;
v += 12;
}
device.VertexFormat = VertexFormat.PositionNormal;
device.DrawUserPrimitives(PrimitiveType.TriangleList, tetraCount * 4, vectors);
}
else if (softBody.Links.Count > 0)
{
AlignedLinkArray links = softBody.Links;
int linkCount = links.Count;
int linkColor = System.Drawing.Color.Black.ToArgb();
device.VertexFormat = VertexFormat.Position | VertexFormat.Diffuse;
PositionColored[] linkArray = new PositionColored[linkCount * 2];
for (int i = 0; i < linkCount; i++)
{
Link link = links[i];
linkArray[i * 2].Position = link.Nodes[0].X;
linkArray[i * 2].Color = linkColor;
linkArray[i * 2 + 1].Position = link.Nodes[1].X;
linkArray[i * 2 + 1].Color = linkColor;
}
device.DrawUserPrimitives(PrimitiveType.LineList, links.Count, linkArray);
}
}
device.SetRenderState(RenderState.CullMode, cullMode);
}