private void ConvertGeometry(Mesh mesh)
{
Vector3[] vertices = mesh.vertices;
int[] triangles = mesh.triangles;
MiddleVRTools.Log(3, "PhysicsBody: Number of vertices: " + vertices.Length);
MiddleVRTools.Log(3, "PhysicsBody: Number of Triangles: " + triangles.Length);
// We will reuse the same vectors to avoid many memory allocations.
Vector3 vertexPos = new Vector3();
vrVec3 vPos = new vrVec3();
// We compute a matrix to scale vertices according to their world
// coordinates, so this scale depends on the scales of the GameObject
// parents. Matrices 4x4 are used because matrices 3x3 aren't available.
vrMatrix worldMatrix = MVRTools.RawFromUnity(transform.localToWorldMatrix);
worldMatrix.SetCol(3, new vrVec4(0.0f, 0.0f, 0.0f, 0.0f));
worldMatrix.SetRow(3, new vrVec4(0.0f, 0.0f, 0.0f, 0.0f));
vrQuat invRotWorlQ = worldMatrix.GetRotation();
invRotWorlQ = invRotWorlQ.Normalize().GetInverse();
vrMatrix invRotWorldMatrix = new vrMatrix();
invRotWorldMatrix.SetRotation(invRotWorlQ);
invRotWorldMatrix.SetCol(3, new vrVec4(0.0f, 0.0f, 0.0f, 0.0f));
invRotWorldMatrix.SetRow(3, new vrVec4(0.0f, 0.0f, 0.0f, 0.0f));
vrMatrix scaleWorldMatrix = invRotWorldMatrix.Mult(worldMatrix);
Matrix4x4 scaleWorldMatrixUnity = MiddleVRTools.RawToUnity(scaleWorldMatrix);
foreach (Vector3 vertex in vertices)
{
vertexPos = scaleWorldMatrixUnity.MultiplyPoint3x4(vertex);
MiddleVRTools.FromUnity(vertexPos, ref vPos);
m_Geometry.AddVertex(vPos);
MiddleVRTools.Log(6, "PhysicsBody: Adding a vertex at position (" +
vPos.x() + ", " + vPos.y() + ", " + vPos.z() + ").");
}
for (int i = 0, iEnd = triangles.Length; i < iEnd; i += 3)
{
uint index0 = (uint)triangles[i];
uint index1 = (uint)triangles[i + 1];
uint index2 = (uint)triangles[i + 2];
m_Geometry.AddTriangle(index0, index1, index2);
MiddleVRTools.Log(6, "PhysicsBody: Adding a triangle with vertex indexes (" +
index0 + ", " + index1 + ", " + index2 + ").");
}
}
private void ConvertGeometry(Matrix4x4 iTopMatrixWorld, Transform iTransform, Mesh iMesh, vrPhysicsGeometry ioGeometry, uint iGeometryIndex)
{
var vertices = iMesh.vertices;
var triangles = iMesh.triangles;
MiddleVRTools.Log(3,
"[ ] PhysicsBody: Number of vertices in sub-geometry '" +
iGeometryIndex + "': " + vertices.Length);
MiddleVRTools.Log(3,
"[ ] PhysicsBody: Number of triangles in sub-geometry '" +
iGeometryIndex + "': " + triangles.Length);
var m = iTopMatrixWorld.inverse * iTransform.localToWorldMatrix;
// We will reuse the same vector to avoid many memory allocations.
vrVec3 vPos = new vrVec3();
MiddleVRTools.Log(6, "[>] PhysicsBody: Adding vertices.");
foreach (Vector3 vertex in vertices)
{
var vertexPos = m.MultiplyPoint3x4(vertex);
MiddleVRTools.FromUnity(vertexPos, ref vPos);
ioGeometry.AddVertex(vPos, iGeometryIndex);
MiddleVRTools.Log(6,
"[ ] PhysicsBody: Adding a vertex at position (" +
vPos.x() + ", " + vPos.y() + ", " + vPos.z() +
") to sub-geometry '" + iGeometryIndex + "'.");
}
MiddleVRTools.Log(6, "[<] PhysicsBody: End of adding vertices.");
MiddleVRTools.Log(6, "[>] PhysicsBody: Adding triangles.");
for (int i = 0, iEnd = triangles.Length; i < iEnd; i += 3)
{
var index0 = (uint)triangles[i + 0];
var index1 = (uint)triangles[i + 1];
var index2 = (uint)triangles[i + 2];
ioGeometry.AddTriangle(index0, index1, index2, iGeometryIndex);
MiddleVRTools.Log(6,
"[ ] PhysicsBody: Adding a triangle with vertex indexes (" +
index0 + ", " + index1 + ", " + index2 + ") to sub-geometry '" +
iGeometryIndex + "'.");
}
MiddleVRTools.Log(6, "[<] PhysicsBody: End of adding triangles.");
}