/// <summary>
/// Initializes a new instance of the <see cref="CapsuleColliderShape"/> class.
/// </summary>
/// <param name="is2D">if set to <c>true</c> [is2 d].</param>
/// <param name="radius">The radius.</param>
/// <param name="length">The length of the capsule.</param>
/// <param name="orientation">Up axis.</param>
public CapsuleColliderShape(bool is2D, float radius, float length, ShapeOrientation orientation)
{
Type = ColliderShapeTypes.Capsule;
Is2D = is2D;
capsuleLength = length;
capsuleRadius = radius;
Matrix rotation;
CapsuleShape shape;
switch (orientation)
{
case ShapeOrientation.UpX:
shape = new CapsuleShapeZ(radius, length);
rotation = Matrix.RotationX((float)Math.PI / 2.0f);
break;
case ShapeOrientation.UpY:
shape = new CapsuleShape(radius, length);
rotation = Matrix.Identity;
break;
case ShapeOrientation.UpZ:
shape = new CapsuleShapeX(radius, length);
rotation = Matrix.RotationZ((float)Math.PI / 2.0f);
break;
default:
throw new ArgumentOutOfRangeException("orientation");
}
InternalShape = Is2D ? (CollisionShape)new Convex2DShape(shape) { LocalScaling = new Vector3(1, 1, 0) }: shape;
DebugPrimitiveMatrix = Matrix.Scaling(new Vector3(1.01f)) * rotation;
}
public DynamicCharacterController(CollisionWorld collisionWorld, RigidBody body,
CapsuleShape shape, short staticRaycastGroup, short staticRaycastMask)
{
_gravity = body.Gravity;
_findGroundAndSteps = new FindGroundAndSteps(this, collisionWorld, staticRaycastGroup, staticRaycastMask);
RigidBody = body;
CapsuleRadius = shape.Radius;
CapsuleHalfHeight = shape.HalfHeight;
RigidBody.Friction = 0;
RigidBody.RollingFriction = 0;
SetupBody();
ResetStatus();
}
public static TriggerRegion CreateCapsuleTriggerRegion(
string name, TriggerReportEvent trh, float radius, float height, Vector3 position, Quaternion orientation)
{
var csm = LKernel.GetG<CollisionShapeManager>();
CollisionShape shape;
if (!csm.TryGetShape(name, out shape)) {
shape = new CapsuleShape(radius, height);
csm.RegisterShape(name, shape);
}
var tr = new TriggerRegion(name, position, orientation, shape);
tr.OnTrigger += trh;
AddToDispose(tr, trh);
return tr;
}
Mesh CreateCapsuleShape(CapsuleShape shape)
{
int upAxis = shape.UpAxis;
Vector3 size = shape.ImplicitShapeDimensions;
float halfHeight = size[upAxis];
float radius = (upAxis == 0) ? size.Y : size.X;
// Combine a cylinder and two spheres.
Mesh cylinder = Mesh.CreateCylinder(device, radius, radius, halfHeight * 2, 8, 1);
Mesh sphere = Mesh.CreateSphere(device, radius, 8, 4);
Matrix[] transforms;
if (upAxis == 0)
{
transforms = new Matrix[] {
Matrix.Translation(halfHeight, 0, 0),
Matrix.RotationY((float)Math.PI / 2),
Matrix.Translation(-halfHeight, 0, 0)};
}
else if (upAxis == 1)
{
transforms = new Matrix[] {
Matrix.Translation(0, halfHeight, 0),
Matrix.RotationX((float)Math.PI / 2),
Matrix.Translation(0, -halfHeight, 0)};
}
else
{
transforms = new Matrix[] {
Matrix.Translation(0, 0, halfHeight),
Matrix.Identity,
Matrix.Translation(0, 0, -halfHeight)};
}
Mesh[] meshes = new Mesh[] { sphere, cylinder, sphere };
Mesh mesh = Mesh.Concatenate(device, meshes, MeshFlags.Managed, transforms, null);
cylinder.Dispose();
sphere.Dispose();
complexShapes.Add(shape, mesh);
return mesh;
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.DispatchInfo.AllowedCcdPenetration = 0.0001f;
//World.Gravity = Freelook.Up * -10.0f;
Matrix startTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f);
ghostObject = new PairCachingGhostObject();
ghostObject.WorldTransform = startTransform;
Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
const float characterHeight = 1.75f;
const float characterWidth = 1.75f;
ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight);
ghostObject.CollisionShape = capsule;
ghostObject.CollisionFlags = CollisionFlags.CharacterObject;
const float stepHeight = 0.35f;
character = new KinematicCharacterController(ghostObject, capsule, stepHeight);
BspLoader bspLoader = new BspLoader();
bspLoader.LoadBspFile("data/BspDemo.bsp");
BspConverter bsp2Bullet = new BspToBulletConverter(this);
bsp2Bullet.ConvertBsp(bspLoader, 0.1f);
World.AddCollisionObject(ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
World.AddAction(character);
convexResultCallback = new ClosestConvexResultCallback();
convexResultCallback.CollisionFilterMask = (short)CollisionFilterGroups.StaticFilter;
cameraSphere = new SphereShape(0.2f);
}
/// <inheritdoc/>
public override BulletSharp.RigidBody CreateRigidBody(float mass)
{
var ppm = DD.Physics.PhysicsSimulator.PPM;
var mstate = new DefaultMotionState ();
var shape = new BulletSharp.CapsuleShape (radius/ppm, halfHeight/ppm);
var info = new BulletSharp.RigidBodyConstructionInfo (mass, mstate, shape);
return new BulletSharp.RigidBody (info);
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
DefaultCollisionConstructionInfo cci = new DefaultCollisionConstructionInfo();
cci.DefaultMaxPersistentManifoldPoolSize = 32768;
CollisionConf = new DefaultCollisionConfiguration(cci);
Dispatcher = new CollisionDispatcher(CollisionConf);
Dispatcher.DispatcherFlags = DispatcherFlags.DisableContactPoolDynamicAllocation;
// the maximum size of the collision world. Make sure objects stay within these boundaries
// Don't make the world AABB size too large, it will harm simulation quality and performance
Vector3 worldAabbMin = new Vector3(-1000, -1000, -1000);
Vector3 worldAabbMax = new Vector3(1000, 1000, 1000);
HashedOverlappingPairCache pairCache = new HashedOverlappingPairCache();
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, 3500, pairCache);
//Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.SolverInfo.SolverMode |= SolverModes.EnableFrictionDirectionCaching;
World.SolverInfo.NumIterations = 5;
if (benchmark < 5)
{
// create the ground
CollisionShape groundShape = new BoxShape(250, 50, 250);
CollisionShapes.Add(groundShape);
CollisionObject ground = base.LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
}
float cubeSize = 1.0f;
float spacing = cubeSize;
float mass = 1.0f;
int size = 8;
Vector3 pos = new Vector3(0.0f, cubeSize * 2, 0.0f);
float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
switch (benchmark)
{
case 1:
// 3000
BoxShape blockShape = new BoxShape(cubeSize - collisionRadius);
mass = 2.0f;
for (int k = 0; k < 47; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
RigidBody cmbody = LocalCreateRigidBody(mass, Matrix.Translation(pos), blockShape);
}
}
offset -= 0.05f * spacing * (size - 1);
// spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 2:
CreatePyramid(new Vector3(-20, 0, 0), 12, new Vector3(cubeSize));
CreateWall(new Vector3(-2.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(4.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(10.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateTowerCircle(new Vector3(25.0f, 0.0f, 0.0f), 8, 24, new Vector3(cubeSize));
break;
case 3:
// TODO: Ragdolls
break;
case 4:
cubeSize = 1.5f;
ConvexHullShape convexHullShape = new ConvexHullShape();
float scaling = 1;
convexHullShape.LocalScaling = new Vector3(scaling);
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx * (1.0f / scaling));
}
//this will enable polyhedral contact clipping, better quality, slightly slower
convexHullShape.InitializePolyhedralFeatures();
for (int k = 0; k < 15; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
LocalCreateRigidBody(mass, Matrix.Translation(pos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 5:
Vector3 boxSize = new Vector3(1.5f);
float boxMass = 1.0f;
float sphereRadius = 1.5f;
float sphereMass = 1.0f;
float capsuleHalf = 2.0f;
float capsuleRadius = 1.0f;
float capsuleMass = 1.0f;
size = 10;
int height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
int numBodies = 0;
Random random = new Random();
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
int idx = random.Next(10);
Matrix trans = Matrix.Translation(bpos);
switch (idx)
{
case 0:
case 1:
case 2:
{
float r = 0.5f * (idx + 1);
BoxShape boxShape = new BoxShape(boxSize * r);
LocalCreateRigidBody(boxMass * r, trans, boxShape);
}
break;
case 3:
case 4:
case 5:
{
float r = 0.5f * (idx - 3 + 1);
SphereShape sphereShape = new SphereShape(sphereRadius * r);
LocalCreateRigidBody(sphereMass * r, trans, sphereShape);
}
break;
case 6:
case 7:
case 8:
{
float r = 0.5f * (idx - 6 + 1);
CapsuleShape capsuleShape = new CapsuleShape(capsuleRadius * r, capsuleHalf * r);
LocalCreateRigidBody(capsuleMass * r, trans, capsuleShape);
}
break;
}
numBodies++;
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 6:
boxSize = new Vector3(1.5f, 1.5f, 1.5f);
convexHullShape = new ConvexHullShape();
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx);
}
size = 10;
height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
LocalCreateRigidBody(mass, Matrix.Translation(bpos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 7:
// TODO
//CreateTest6();
//InitRays();
break;
}
}
public TestRig(DynamicsWorld ownerWorld, Vector3 positionOffset, bool bFixed)
{
this.ownerWorld = ownerWorld;
Vector3 vUp = new Vector3(0, 1, 0);
//
// Setup geometry
//
const float fBodySize = 0.25f;
const float fLegLength = 0.45f;
const float fForeLegLength = 0.75f;
const float PI_2 = (float)(0.5f * Math.PI);
const float PI_4 = (float)(0.25f * Math.PI);
const float PI_8 = (float)(0.125f * Math.PI);
shapes[0] = new CapsuleShape(fBodySize, 0.10f);
int i;
for (i = 0; i < NumLegs; i++)
{
shapes[1 + 2 * i] = new CapsuleShape(0.10f, fLegLength);
shapes[2 + 2 * i] = new CapsuleShape(0.08f, fForeLegLength);
}
//
// Setup rigid bodies
//
const float fHeight = 0.5f;
Matrix offset = Matrix.Translation(positionOffset);
// root
Vector3 vRoot = new Vector3(0, fHeight, 0);
Matrix transform = Matrix.Translation(vRoot);
if (bFixed)
{
bodies[0] = LocalCreateRigidBody(0, transform * offset, shapes[0]);
}
else
{
bodies[0] = LocalCreateRigidBody(1, transform * offset, shapes[0]);
}
// legs
for (i = 0; i < NumLegs; i++)
{
float fAngle = (float)(2 * Math.PI * i / NumLegs);
float fSin = (float)Math.Sin(fAngle);
float fCos = (float)Math.Cos(fAngle);
Vector3 vBoneOrigin = new Vector3(fCos * (fBodySize + 0.5f * fLegLength), fHeight, fSin * (fBodySize + 0.5f * fLegLength));
// thigh
Vector3 vToBone = (vBoneOrigin - vRoot);
vToBone.Normalize();
Vector3 vAxis = Vector3.Cross(vToBone, vUp);
transform = Matrix.RotationQuaternion(Quaternion.RotationAxis(vAxis, PI_2)) * Matrix.Translation(vBoneOrigin);
bodies[1 + 2 * i] = LocalCreateRigidBody(1, transform * offset, shapes[1 + 2 * i]);
// shin
transform = Matrix.Translation(fCos * (fBodySize + fLegLength), fHeight - 0.5f * fForeLegLength, fSin * (fBodySize + fLegLength));
bodies[2 + 2 * i] = LocalCreateRigidBody(1, transform * offset, shapes[2 + 2 * i]);
}
// Setup some damping on the bodies
for (i = 0; i < BodyPartCount; ++i)
{
bodies[i].SetDamping(0.05f, 0.85f);
bodies[i].DeactivationTime = 0.8f;
//bodies[i].SetSleepingThresholds(1.6f, 2.5f);
bodies[i].SetSleepingThresholds(0.5f, 0.5f);
}
//
// Setup the constraints
//
HingeConstraint hingeC;
//ConeTwistConstraint coneC;
Matrix localA, localB, localC;
for (i = 0; i < NumLegs; i++)
{
float fAngle = (float)(2 * Math.PI * i / NumLegs);
float fSin = (float)Math.Sin(fAngle);
float fCos = (float)Math.Cos(fAngle);
// hip joints
localA = Matrix.RotationYawPitchRoll(-fAngle, 0, 0) * Matrix.Translation(fCos * fBodySize, 0, fSin * fBodySize); // OK
localB = localA * bodies[0].WorldTransform * Matrix.Invert(bodies[1 + 2 * i].WorldTransform);
hingeC = new HingeConstraint(bodies[0], bodies[1 + 2 * i], localA, localB);
hingeC.SetLimit(-0.75f * PI_4, PI_8);
//hingeC.SetLimit(-0.1f, 0.1f);
joints[2 * i] = hingeC;
ownerWorld.AddConstraint(joints[2 * i], true);
// knee joints
localA = Matrix.RotationYawPitchRoll(-fAngle, 0, 0) * Matrix.Translation(fCos * (fBodySize + fLegLength), 0, fSin * (fBodySize + fLegLength));
localB = localA * bodies[0].WorldTransform * Matrix.Invert(bodies[1 + 2 * i].WorldTransform);
localC = localA * bodies[0].WorldTransform * Matrix.Invert(bodies[2 + 2 * i].WorldTransform);
hingeC = new HingeConstraint(bodies[1 + 2 * i], bodies[2 + 2 * i], localB, localC);
//hingeC.SetLimit(-0.01f, 0.01f);
hingeC.SetLimit(-PI_8, 0.2f);
joints[1 + 2 * i] = hingeC;
ownerWorld.AddConstraint(joints[1 + 2 * i], true);
}
}
public ShapeData CreateCapsule(CapsuleShape shape)
{
int up = shape.UpAxis;
float radius = shape.Radius;
float cylinderHalfHeight = shape.HalfHeight;
int slices = (int)(radius * 10.0f);
int stacks = (int)(radius * 10.0f);
slices = (slices > 16) ? 16 : (slices < 3) ? 3 : slices;
stacks = (stacks > 16) ? 16 : (stacks < 3) ? 3 : stacks;
float hAngleStep = (float)Math.PI * 2 / slices;
float vAngleStep = (float)Math.PI / stacks;
ShapeData shapeData = new ShapeData();
shapeData.VertexCount = 2 + slices * (stacks - 1);
shapeData.IndexCount = 6 * slices * (stacks - 1);
Vector3[] vertices = new Vector3[shapeData.VertexCount * 2];
ushort[] indices = new ushort[shapeData.IndexCount];
int i = 0, v = 0;
// Vertices
// Top and bottom
vertices[v++] = GetVectorByAxis(0, -cylinderHalfHeight - radius, 0, up);
vertices[v++] = GetVectorByAxis(-Vector3.UnitY, up);
vertices[v++] = GetVectorByAxis(0, cylinderHalfHeight + radius, 0, up);
vertices[v++] = GetVectorByAxis(Vector3.UnitY, up);
// Stacks
int j, k;
float angle = 0;
float vAngle = -(float)Math.PI / 2;
Vector3 vTemp;
Vector3 cylinderOffset = GetVectorByAxis(0, -cylinderHalfHeight, 0, up);
for (j = 0; j < stacks - 1; j++)
{
float prevAngle = vAngle;
vAngle += vAngleStep;
if (vAngle > 0 && prevAngle < 0)
{
cylinderOffset = GetVectorByAxis(0, cylinderHalfHeight, 0, up);
}
for (k = 0; k < slices; k++)
{
angle += hAngleStep;
vTemp = GetVectorByAxis((float)Math.Cos(vAngle) * (float)Math.Sin(angle),
(float)Math.Sin(vAngle),
(float)Math.Cos(vAngle) * (float)Math.Cos(angle), up);
vertices[v++] = vTemp * radius + cylinderOffset;
vertices[v++] = Vector3.Normalize(vTemp);
}
}
// Indices
// Top cap
ushort index = 2;
for (k = 0; k < slices; k++)
{
indices[i++] = index++;
indices[i++] = 0;
indices[i++] = index;
}
indices[i - 1] = 2;
// Stacks
int sliceDiff = slices * 3;
for (j = 0; j < stacks - 2; j++)
{
for (k = 0; k < slices; k++)
{
indices[i] = indices[i - sliceDiff + 2];
indices[i + 1] = index++;
indices[i + 2] = indices[i - sliceDiff];
i += 3;
}
for (k = 0; k < slices; k++)
{
indices[i] = indices[i - sliceDiff + 1];
indices[i + 1] = indices[i - sliceDiff];
indices[i + 2] = indices[i - sliceDiff + 4];
i += 3;
}
indices[i - 1] = indices[i - sliceDiff];
}
// Bottom cap
index--;
for (k = 0; k < slices; k++)
{
indices[i++] = index--;
indices[i++] = 1;
indices[i++] = index;
}
indices[i - 1] = indices[i - sliceDiff];
shapeData.SetVertexBuffer(device, vertices);
shapeData.SetIndexBuffer(device, indices);
return shapeData;
}
public override CollisionShape GetCollisionShape()
{
if (collisionShapePtr == null) {
CapsuleShape cs = null;
if (upAxis == CapsuleAxis.x)
{
cs = new CapsuleShapeX(radius, height);
} else if (upAxis == CapsuleAxis.y)
{
cs = new CapsuleShape(radius, height);
} else if (upAxis == CapsuleAxis.z)
{
cs = new CapsuleShapeZ(radius, height);
} else
{
Debug.LogError("invalid axis value");
}
cs.LocalScaling = m_localScaling.ToBullet();
collisionShapePtr = cs;
}
return collisionShapePtr;
}
public static UnityEngine.Vector3[] CreateCapsule(CapsuleShape shape, out int[] indices)
{
int up = shape.UpAxis;
float radius = shape.Radius;
float cylinderHalfHeight = shape.HalfHeight;
int slices = (int)(radius * 10.0f);
int stacks = (int)(radius * 10.0f);
slices = (slices > 16) ? 16 : (slices < 3) ? 3 : slices;
stacks = (stacks > 16) ? 16 : (stacks < 3) ? 3 : stacks;
float hAngleStep = (float)Math.PI * 2 / slices;
float vAngleStep = (float)Math.PI / stacks;
int vertexCount = 2 + slices * (stacks - 1);
int indexCount = 6 * slices * (stacks - 1);
UnityEngine.Vector3[] vertices = new UnityEngine.Vector3[vertexCount * 2];
indices = new int[indexCount];
int i = 0, v = 0;
// Vertices
// Top and bottom
vertices[v++] = GetVectorByAxis(0, -cylinderHalfHeight - radius, 0, up);
vertices[v++] = GetVectorByAxis(-UnityEngine.Vector3.up, up);
vertices[v++] = GetVectorByAxis(0, cylinderHalfHeight + radius, 0, up);
vertices[v++] = GetVectorByAxis(UnityEngine.Vector3.up, up);
// Stacks
int j, k;
float angle = 0;
float vAngle = -(float)Math.PI / 2;
UnityEngine.Vector3 vTemp;
UnityEngine.Vector3 cylinderOffset = GetVectorByAxis(0, -cylinderHalfHeight, 0, up);
for (j = 0; j < stacks - 1; j++)
{
float prevAngle = vAngle;
vAngle += vAngleStep;
if (vAngle > 0 && prevAngle < 0)
{
cylinderOffset = GetVectorByAxis(0, cylinderHalfHeight, 0, up);
}
for (k = 0; k < slices; k++)
{
angle += hAngleStep;
vTemp = GetVectorByAxis((float)Math.Cos(vAngle) * (float)Math.Sin(angle),
(float)Math.Sin(vAngle),
(float)Math.Cos(vAngle) * (float)Math.Cos(angle), up);
vertices[v++] = vTemp * radius + cylinderOffset;
vertices[v++] = UnityEngine.Vector3.Normalize(vTemp);
}
}
// Indices
// Top cap
int index = 2;
for (k = 0; k < slices; k++)
{
indices[i++] = index++;
indices[i++] = 0;
indices[i++] = index;
}
indices[i - 1] = 2;
// Stacks
int sliceDiff = slices * 3;
for (j = 0; j < stacks - 2; j++)
{
for (k = 0; k < slices; k++)
{
indices[i] = indices[i - sliceDiff + 2];
indices[i + 1] = index++;
indices[i + 2] = indices[i - sliceDiff];
i += 3;
}
for (k = 0; k < slices; k++)
{
indices[i] = indices[i - sliceDiff + 1];
indices[i + 1] = indices[i - sliceDiff];
indices[i + 2] = indices[i - sliceDiff + 4];
i += 3;
}
indices[i - 1] = indices[i - sliceDiff];
}
// Bottom cap
index--;
for (k = 0; k < slices; k++)
{
indices[i++] = index--;
indices[i++] = 1;
indices[i++] = index;
}
indices[i - 1] = indices[i - sliceDiff];
return vertices;
}
public CollisionShape CreateCapsuleShapeY(float radius, float height)
{
CapsuleShape shape = new CapsuleShape(radius, height);
_allocatedCollisionShapes.Add(shape);
return shape;
}