public static Vector3[] CreateScaledBvhTriangleMeshShape(ScaledBvhTriangleMeshShape shape, out uint[] indices)
{
Vector3[] vert = CreateShape(shape.ChildShape, out indices);
var scale = shape.LocalScaling;
return(ScaleShape(vert, ref scale));
}
private RigidBody BuildRigidBodyFromTriangleMeshShape(BvhTriangleMeshShape triangleMeshShape, int mass, TGCVector3 position, TGCVector3 scale)
{
var transformationMatrix = TGCMatrix.RotationYawPitchRoll(0, 0, 0);
transformationMatrix.Origin = position;
DefaultMotionState motionState = new DefaultMotionState(transformationMatrix.ToBsMatrix);
var bulletShape = new ScaledBvhTriangleMeshShape(triangleMeshShape, scale.ToBulletVector3());
var boxLocalInertia = bulletShape.CalculateLocalInertia(0);
var bodyInfo = new RigidBodyConstructionInfo(mass, motionState, bulletShape, boxLocalInertia);
var rigidBody = new RigidBody(bodyInfo);
rigidBody.Friction = 0.4f;
rigidBody.RollingFriction = 1;
rigidBody.Restitution = 1f;
return(rigidBody);
}
private void CreateTrimeshGround()
{
const float scale = 20.0f;
//create a triangle-mesh ground
const int NumVertsX = 20;
const int NumVertsY = 20;
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
_groundVertexArray = new TriangleIndexVertexArray();
_groundMesh = new IndexedMesh();
_groundMesh.Allocate(totalTriangles, totalVerts);
_groundMesh.NumTriangles = totalTriangles;
_groundMesh.NumVertices = totalVerts;
_groundMesh.TriangleIndexStride = 3 * sizeof(int);
_groundMesh.VertexStride = Vector3.SizeInBytes;
using (var indicesStream = _groundMesh.GetTriangleStream())
{
var indices = new BinaryWriter(indicesStream);
for (int i = 0; i < NumVertsX - 1; i++)
{
for (int j = 0; j < NumVertsY - 1; j++)
{
indices.Write(j * NumVertsX + i);
indices.Write(j * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write(j * NumVertsX + i);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i);
}
}
indices.Dispose();
}
using (var vertexStream = _groundMesh.GetVertexStream())
{
var vertices = new BinaryWriter(vertexStream);
for (int i = 0; i < NumVertsX; i++)
{
for (int j = 0; j < NumVertsY; j++)
{
const float waveLength = .2f;
float height = (float)(Math.Sin(i * waveLength) * Math.Cos(j * waveLength));
vertices.Write(i - NumVertsX * 0.5f);
vertices.Write(height);
vertices.Write(j - NumVertsY * 0.5f);
}
}
vertices.Dispose();
}
_groundVertexArray.AddIndexedMesh(_groundMesh);
var groundShape = new BvhTriangleMeshShape(_groundVertexArray, true);
var groundScaled = new ScaledBvhTriangleMeshShape(groundShape, new Vector3(scale));
RigidBody ground = PhysicsHelper.CreateStaticBody(Matrix.Identity, groundScaled, World);
ground.UserObject = "Ground";
Matrix vehicleTransform = Matrix.Translation(0, -2, 0);
CreateVehicle(vehicleTransform);
}
