private void CreateObjects()
{
ModelLoader loader = new ModelLoader();
overlayNode = new GeometryNode("Overlay");
overlayNode.Model = (Model)loader.Load("", "p1_wedge");
((Model)overlayNode.Model).UseInternalMaterials = true;
// Get the dimension of the model
Vector3 dimension = Vector3Helper.GetDimensions(overlayNode.Model.MinimumBoundingBox);
// Scale the model to fit to the size of 5 markers
float scale = markerSize * 5 / Math.Max(dimension.X, dimension.Z);
TransformNode overlayTransNode = new TransformNode()
{
Translation = new Vector3(0, 0, dimension.Y * scale / 2),
Rotation = Quaternion.CreateFromAxisAngle(Vector3.UnitX, MathHelper.ToRadians(90)) *
Quaternion.CreateFromAxisAngle(Vector3.UnitY, MathHelper.ToRadians(90)),
Scale = new Vector3(scale, scale, scale)
};
scene.RootNode.AddChild(overlayTransNode);
overlayTransNode.AddChild(overlayNode);
}
private IntPtr GetCollisionShape(IPhysicsObject physObj, Vector3 scale)
{
IntPtr collisionShape = IntPtr.Zero;
Vector3 boundingBox = Vector3Helper.GetDimensions(physObj.Model.MinimumBoundingBox);
float[] dim = new float[3];
float[] top = new float[3];
float[] bottom = new float[3];
float[] vertexCloud = null;
float radius = 0;
float height = 0;
float convexRadius = 0.05f;
if (physObj is HavokObject)
{
convexRadius = ((HavokObject)physObj).ConvexRadius;
}
switch (physObj.Shape)
{
case ShapeType.Box:
if (physObj.ShapeData.Count == 3)
{
dim[0] = physObj.ShapeData[0];
dim[1] = physObj.ShapeData[1];
dim[2] = physObj.ShapeData[2];
}
else
{
dim[0] = boundingBox.X * scale.X;
dim[1] = boundingBox.Y * scale.Y;
dim[2] = boundingBox.Z * scale.Z;
}
collisionShape = HavokDllBridge.create_box_shape(dim, convexRadius);
break;
case ShapeType.Sphere:
if (physObj.ShapeData.Count == 1)
{
radius = physObj.ShapeData[0];
}
else
{
radius = boundingBox.X * scale.X / 2;
}
collisionShape = HavokDllBridge.create_sphere_shape(radius);
break;
case ShapeType.Capsule:
case ShapeType.Cylinder:
if (physObj.ShapeData.Count == 2)
{
radius = physObj.ShapeData[0];
height = physObj.ShapeData[1];
}
else
{
radius = boundingBox.X * scale.X / 2;
height = boundingBox.Y * scale.Y;
}
if (physObj.Shape == ShapeType.Capsule)
{
top[1] = height / 2 - radius;
bottom[1] = -height / 2 + radius;
collisionShape = HavokDllBridge.create_capsule_shape(top, bottom, radius);
}
else
{
top[1] = height / 2;
bottom[1] = -height / 2;
collisionShape = HavokDllBridge.create_cylinder_shape(top, bottom, radius, convexRadius);
}
break;
case ShapeType.Cone:
throw new GoblinException("Cone shape is not supported by Havok physics");
case ShapeType.ChamferCylinder:
throw new GoblinException("ChamferCylinder is not supported by Havok physics");
case ShapeType.ConvexHull:
List <Vector3> vertices = physObj.MeshProvider.Vertices;
vertexCloud = new float[vertices.Count * 3];
for (int i = 0; i < vertices.Count; i++)
{
vertexCloud[i * 3] = vertices[i].X * scale.X;
vertexCloud[i * 3 + 1] = vertices[i].Y * scale.Y;
vertexCloud[i * 3 + 2] = vertices[i].Z * scale.Z;
}
collisionShape = HavokDllBridge.create_convex_shape(vertices.Count, vertexCloud,
sizeof(float) * 3, convexRadius);
break;
case ShapeType.TriangleMesh:
if (physObj.MeshProvider == null)
{
throw new GoblinException("MeshProvider cannot be null to construct TriangleMesh shape");
}
List <int> indices = physObj.MeshProvider.Indices;
vertices = physObj.MeshProvider.Vertices;
vertexCloud = new float[vertices.Count * 3];
for (int i = 0; i < vertices.Count; i++)
{
vertexCloud[i * 3] = vertices[i].X * scale.X;
vertexCloud[i * 3 + 1] = vertices[i].Y * scale.Y;
vertexCloud[i * 3 + 2] = vertices[i].Z * scale.Z;
}
collisionShape = HavokDllBridge.create_mesh_shape(vertices.Count, vertexCloud,
sizeof(float) * 3, indices.Count / 3, indices.ToArray(), convexRadius);
break;
case ShapeType.Compound:
break;
}
if (physObj is HavokObject)
{
if (((HavokObject)physObj).IsPhantom)
{
collisionShape = HavokDllBridge.create_phantom_shape(collisionShape,
((HavokObject)physObj).PhantomEnterCallback,
((HavokObject)physObj).PhantomLeaveCallback);
}
}
return(collisionShape);
}
public Vector3 getDimensions()
{
return(Vector3Helper.GetDimensions(geomNode.Model.MinimumBoundingBox));
}
public float getZDim()
{
return(Vector3Helper.GetDimensions(geomNode.Model.MinimumBoundingBox).Z);
}
/// <summary>
///
/// </summary>
/// <remarks>
/// For all of the shapes that has directions (e.g., Cylinder, Hemisphere), Y direction is
/// used, so if you would like it to face other directions, use MataliObject.ShapeOriginalMatrix
/// to orient them.
///
/// For a cylinder with different bottom and top radius, IPhysicsObject.ShapeData are used.
/// ShapeData[0] - bottom radius, ShapeData[1] - height, ShapeData[2] = top radius
///
/// For Compound shape, an additional information can be set by using
/// MataliObject.CompoundShape.
///
/// For additional shape types such as Heightmap, Point, and so on, set Shape to ShapeType.Extra
/// and define MataliObject.ExtraShape.
/// </remarks>
/// <param name="mataliPhysicsObj"></param>
/// <param name="physObj"></param>
private void SetShape(MataliPhysicsObject mataliPhysicsObj, IPhysicsObject physObj)
{
Vector3 boundingBox = Vector3.Zero;
if (physObj.Model != null)
{
boundingBox = Vector3Helper.GetDimensions(physObj.Model.MinimumBoundingBox);
}
Vector3 size = Vector3.Zero;
MataliObject mataliObj = null;
if (physObj is MataliObject)
{
mataliObj = (MataliObject)physObj;
}
switch (physObj.Shape)
{
case ShapeType.Box:
if (physObj.ShapeData.Count == 3)
{
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
}
else
{
size = boundingBox;
}
size /= 2;
break;
case ShapeType.Sphere:
if (physObj.ShapeData.Count == 1)
{
size = new Vector3(physObj.ShapeData[0], 0, 0);
}
else
{
size = boundingBox / 2;
}
break;
case ShapeType.Cone:
case ShapeType.Cylinder:
case ShapeType.Capsule:
if (physObj.ShapeData.Count == 2)
{
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[0]);
}
else if (physObj.ShapeData.Count == 3)
{
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
}
else
{
size = new Vector3(boundingBox.X / 2, boundingBox.Y, boundingBox.X / 2);
}
break;
case ShapeType.Compound:
// size is used solely for naming, not used for the collision shape
size = new Vector3(physObj.ShapeData.Count, physObj.ShapeData[0],
physObj.ShapeData[physObj.ShapeData.Count - 1]);
break;
case ShapeType.ConvexHull:
// size is used solely for naming, not used for the collision shape
size = new Vector3(physObj.MeshProvider.Vertices.Count,
physObj.MeshProvider.Indices.Count, physObj.MeshProvider.Vertices[0].X);
break;
case ShapeType.Extra:
if (mataliObj == null)
{
throw new GoblinException("For extra shape type, you need to define the 'physObj' " +
"as MataliObject instance");
}
if (mataliObj.ExtraShape == ExtraShapeType.Undefined)
{
throw new GoblinException("Undefined type is not allowed if Extra shape type is specified");
}
// size is used solely for naming, not used for the collision shape
switch (mataliObj.ExtraShape)
{
case ExtraShapeType.Point:
if (physObj.ShapeData.Count != 3)
{
throw new GoblinException("For Point shape type, you need to specify the position (x,y,z) in ShapeData");
}
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
break;
case ExtraShapeType.Heightmap:
if (physObj.ShapeData.Count < 2)
{
throw new GoblinException("There needs to be at least two floats specifying the " +
"width and height");
}
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData.Count);
break;
case ExtraShapeType.Edge:
if (physObj.ShapeData.Count != 6)
{
throw new GoblinException("For Edge shape type, you need to specify the start and " +
"end positions (x,y,z) in ShapeData");
}
size = new Vector3(physObj.ShapeData[0] + physObj.ShapeData[3],
physObj.ShapeData[1] + physObj.ShapeData[4],
physObj.ShapeData[2] + physObj.ShapeData[5]);
break;
default:
throw new GoblinException(mataliObj.ExtraShape.ToString() + " not implemented yet");
}
break;
}
String shapeName = physObj.Shape.ToString() + size.ToString();
String primitiveName = physObj.Shape.ToString() + size.ToString();
if (mataliObj != null)
{
String suffix = "";
if (physObj.Shape == ShapeType.Extra)
{
suffix += mataliObj.ExtraShape.ToString();
}
else if (physObj.Shape == ShapeType.Compound)
{
suffix += mataliObj.CompoundShape.ToString();
}
suffix += mataliObj.ShapeOriginalMatrix.ToString();
suffix += mataliObj.ShapeCollisionMargin;
shapeName += suffix;
primitiveName += suffix;
}
Shape shape = null;
ShapePrimitive primitive = null;
if (scene.Factory.ShapeManager.Contains(shapeName))
{
shape = scene.Factory.ShapeManager.Find(shapeName);
}
else
{
if (physObj.Shape != ShapeType.Compound)
{
primitive = scene.Factory.ShapePrimitiveManager.Create(primitiveName);
}
shape = scene.Factory.ShapeManager.Create(shapeName);
bool shapeSet = false;
switch (physObj.Shape)
{
case ShapeType.Box:
primitive.CreateBox(size.X, size.Y, size.Z);
break;
case ShapeType.Sphere:
primitive.CreateSphere(size.X);
break;
case ShapeType.Cone:
primitive.CreateConeY(size.Y, size.X);
break;
case ShapeType.Cylinder:
if (size.X != size.Z)
{
primitive.CreateCylinder2RY(size.Y, size.X, size.Z);
}
else
{
primitive.CreateCylinderY(size.Y, size.X);
}
break;
case ShapeType.Capsule:
primitive.CreateCapsuleY(size.Y - size.X * 2, size.X);
break;
case ShapeType.Compound:
ShapeCompoundType type = ShapeCompoundType.ConvexHull;
if (mataliObj != null)
{
if (mataliObj.CompoundShape == CompoundShapeType.MinkowskiSum)
{
type = ShapeCompoundType.MinkowskiSum;
}
}
int dataIndex = 0;
Shape compoundShapePart = null;
ShapePrimitive compoundPrimitive = null;
float[] matrixVals = new float[16];
while (dataIndex < physObj.ShapeData.Count)
{
ShapeType shapeType = (ShapeType)Enum.ToObject(typeof(ShapeType), (int)physObj.ShapeData[dataIndex++]);
switch (shapeType)
{
case ShapeType.Cylinder:
size = new Vector3(physObj.ShapeData[dataIndex], physObj.ShapeData[dataIndex + 1],
physObj.ShapeData[dataIndex]);
dataIndex += 2;
break;
case ShapeType.Sphere:
size = new Vector3(physObj.ShapeData[dataIndex], 0, 0);
dataIndex++;
break;
}
shapeName = shapeType.ToString() + size.ToString();
primitiveName = shapeType.ToString() + size.ToString();
if (scene.Factory.ShapeManager.Contains(shapeName))
{
compoundShapePart = scene.Factory.ShapeManager.Find(shapeName);
}
else
{
compoundPrimitive = scene.Factory.ShapePrimitiveManager.Create(primitiveName);
compoundShapePart = scene.Factory.ShapeManager.Create(shapeName);
switch (shapeType)
{
case ShapeType.Cylinder:
compoundPrimitive.CreateCylinderY(size.Y, size.X);
break;
case ShapeType.Sphere:
compoundPrimitive.CreateSphere(size.X);
break;
default:
throw new GoblinException(shape.ToString() + " is not supported yet as a compound part");
}
compoundShapePart.Set(compoundPrimitive, Matrix.Identity, 0.0f);
}
for (int i = 0; i < 16; ++i)
{
matrixVals[i] = physObj.ShapeData[dataIndex + i];
}
dataIndex += 16;
shape.Add(compoundShapePart, MatrixHelper.FloatsToMatrix(matrixVals), 0.0f, type);
}
float margin = 0.0f;
if (mataliObj != null)
{
margin = mataliObj.ShapeCollisionMargin;
}
shape.CreateMesh(margin);
shapeSet = true;
break;
case ShapeType.ConvexHull:
case ShapeType.TriangleMesh:
float[] frictions = null;
float[] restitutions = null;
if (physObj.Shape == ShapeType.ConvexHull)
{
primitive.CreateConvex(physObj.MeshProvider.Vertices);
}
else
{
int triangleCount = physObj.MeshProvider.Indices.Count / 3;
frictions = new float[triangleCount];
restitutions = new float[triangleCount];
for (int i = 0; i < frictions.Length; i++)
{
frictions[i] = 1.0f;
restitutions[i] = 0.0f;
}
Vector3[] triVerts = new Vector3[physObj.MeshProvider.Indices.Count];
for (int i = 0; i < triVerts.Length; ++i)
{
triVerts[i] = physObj.MeshProvider.Vertices[physObj.MeshProvider.Indices[i]];
}
bool flipTriangle = (physObj is MataliObject) ? ((MataliObject)physObj).FlipTriangleOrder : true;
primitive.CreateTriangleMesh(triVerts, flipTriangle, 2, frictions, restitutions, 1.0f, 0.0f);
}
break;
case ShapeType.Extra:
switch (mataliObj.ExtraShape)
{
case ExtraShapeType.Heightmap:
int width = (int)physObj.ShapeData[0];
int height = (int)physObj.ShapeData[1];
float[] heightData = new float[height * width];
float[] heightFrictions = new float[height * width];
float[] heightRestituions = new float[height * width];
if (physObj.ShapeData.Count < (2 + heightData.Length))
{
throw new GoblinException("You also need to specify the hegith map data");
}
Buffer.BlockCopy(physObj.ShapeData.ToArray(), 2 * sizeof(float), heightData, 0,
heightData.Length * sizeof(float));
if (physObj.ShapeData.Count > (2 + heightData.Length * 2))
{
Buffer.BlockCopy(physObj.ShapeData.ToArray(), (2 + heightData.Length) * sizeof(float),
heightFrictions, 0, heightFrictions.Length * sizeof(float));
}
else
{
for (int i = 0; i < heightFrictions.Length; ++i)
{
heightFrictions[i] = mataliObj.TriangleMeshFriction;
}
}
if (physObj.ShapeData.Count > (2 + heightData.Length * 3))
{
Buffer.BlockCopy(physObj.ShapeData.ToArray(), (2 + heightData.Length * 2) * sizeof(float),
heightRestituions, 0, heightRestituions.Length * sizeof(float));
}
else
{
for (int i = 0; i < heightRestituions.Length; ++i)
{
heightRestituions[i] = mataliObj.TriangleMeshRestitution;
}
}
primitive.CreateHeightmap(0, 0, width, height, width, height, heightData, heightFrictions, heightRestituions,
mataliObj.TriangleMeshFriction, mataliObj.TriangleMeshRestitution, mataliObj.IsDynamic);
shape.Set(primitive, mataliObj.ShapeOriginalMatrix, mataliObj.ShapeCollisionMargin);
shape.CreateMesh(0.0f);
shapeSet = true;
mataliPhysicsObj.InternalControllers.CreateHeightmapController(true);
break;
case ExtraShapeType.Point:
primitive.CreatePoint(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
break;
case ExtraShapeType.Edge:
primitive.CreateEdge(new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]),
new Vector3(physObj.ShapeData[3], physObj.ShapeData[4], physObj.ShapeData[5]));
break;
case ExtraShapeType.Plane:
primitive.CreatePlaneY(physObj.ShapeData[0], (physObj.ShapeData[1] > 0));
break;
case ExtraShapeType.Triangle:
primitive.CreateTriangle(
new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]),
new Vector3(physObj.ShapeData[3], physObj.ShapeData[4], physObj.ShapeData[5]),
new Vector3(physObj.ShapeData[6], physObj.ShapeData[7], physObj.ShapeData[8]));
break;
case ExtraShapeType.Tetrahedron:
primitive.CreateTetrahedron(
new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]),
new Vector3(physObj.ShapeData[3], physObj.ShapeData[4], physObj.ShapeData[5]),
new Vector3(physObj.ShapeData[6], physObj.ShapeData[7], physObj.ShapeData[8]),
new Vector3(physObj.ShapeData[9], physObj.ShapeData[10], physObj.ShapeData[11]));
break;
case ExtraShapeType.Fluid:
break;
case ExtraShapeType.Hemisphere:
primitive.CreateHemisphereY(physObj.ShapeData[0]);
break;
}
break;
}
if (!shapeSet)
{
if (mataliObj != null)
{
shape.Set(primitive, mataliObj.ShapeOriginalMatrix, mataliObj.ShapeCollisionMargin);
}
else
{
shape.Set(primitive, Matrix.Identity, 0.0f);
}
if (buildCollisionMesh)
{
float margin = 0.0f;
if (mataliObj != null)
{
margin = mataliObj.ShapeCollisionMargin;
}
shape.CreateMesh(margin);
}
}
}
mataliPhysicsObj.Shape = shape;
}