// No locking here because this is done when we know physics is not simulating
private void CreateGeomHull()
{
float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD;
ulong newHullKey = (ulong)_pbs.GetMeshKey(_size, lod);
// m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _hullKey, newHullKey);
// if the hull hasn't changed, don't rebuild it
if (newHullKey == _hullKey) return;
// Since we're recreating new, get rid of any previously generated shape
if (_hullKey != 0)
{
// m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
_hullKey = 0;
_hulls.Clear();
BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
_mesh = null; // the mesh cannot match either
_meshKey = 0;
}
_hullKey = newHullKey;
if (_meshKey != _hullKey)
{
// if the underlying mesh has changed, rebuild it
CreateGeomMesh();
}
int[] indices = _mesh.getIndexListAsInt();
List<OMV.Vector3> vertices = _mesh.getVertexList();
//format conversion from IMesh format to DecompDesc format
List<int> convIndices = new List<int>();
List<float3> convVertices = new List<float3>();
for (int ii = 0; ii < indices.GetLength(0); ii++)
{
convIndices.Add(indices[ii]);
}
foreach (OMV.Vector3 vv in vertices)
{
convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
}
// setup and do convex hull conversion
_hulls = new List<ConvexResult>();
DecompDesc dcomp = new DecompDesc();
dcomp.mIndices = convIndices;
dcomp.mVertices = convVertices;
ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
// create the hull into the _hulls variable
convexBuilder.process(dcomp);
// Convert the vertices and indices for passing to unmanaged
// The hull information is passed as a large floating point array.
// The format is:
// convHulls[0] = number of hulls
// convHulls[1] = number of vertices in first hull
// convHulls[2] = hull centroid X coordinate
// convHulls[3] = hull centroid Y coordinate
// convHulls[4] = hull centroid Z coordinate
// convHulls[5] = first hull vertex X
// convHulls[6] = first hull vertex Y
// convHulls[7] = first hull vertex Z
// convHulls[8] = second hull vertex X
// ...
// convHulls[n] = number of vertices in second hull
// convHulls[n+1] = second hull centroid X coordinate
// ...
//
// TODO: is is very inefficient. Someday change the convex hull generator to return
// data structures that do not need to be converted in order to pass to Bullet.
// And maybe put the values directly into pinned memory rather than marshaling.
int hullCount = _hulls.Count;
int totalVertices = 1; // include one for the count of the hulls
foreach (ConvexResult cr in _hulls)
{
totalVertices += 4; // add four for the vertex count and centroid
totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
}
float[] convHulls = new float[totalVertices];
convHulls[0] = (float)hullCount;
int jj = 1;
foreach (ConvexResult cr in _hulls)
{
// copy vertices for index access
float3[] verts = new float3[cr.HullVertices.Count];
int kk = 0;
foreach (float3 ff in cr.HullVertices)
{
verts[kk++] = ff;
}
// add to the array one hull's worth of data
convHulls[jj++] = cr.HullIndices.Count;
convHulls[jj++] = 0f; // centroid x,y,z
convHulls[jj++] = 0f;
convHulls[jj++] = 0f;
foreach (int ind in cr.HullIndices)
{
convHulls[jj++] = verts[ind].x;
convHulls[jj++] = verts[ind].y;
convHulls[jj++] = verts[ind].z;
}
}
// create the hull definition in Bullet
// m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount);
BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
// meshes are already scaled by the meshmerizer
_scale = new OMV.Vector3(1f, 1f, 1f);
return;
}
public int process(DecompDesc desc)
{
int ret = 0;
MAXDEPTH = (int)desc.mDepth;
CONCAVE_PERCENT = desc.mCpercent;
MERGE_PERCENT = desc.mPpercent;
ConvexDecomposition.calcConvexDecomposition(desc.mVertices, desc.mIndices, ConvexDecompResult, 0f, 0,
MAXDEPTH, CONCAVE_PERCENT, MERGE_PERCENT);
while (combineHulls()) // keep combinging hulls until I can't combine any more...
{
;
}
int i;
for (i = 0; i < mChulls.Count; i++)
{
CHull cr = mChulls[i];
// before we hand it back to the application, we need to regenerate the hull based on the
// limits given by the user.
ConvexResult c = cr.mResult; // the high resolution hull...
HullResult result = new HullResult();
HullDesc hdesc = new HullDesc();
hdesc.SetHullFlag(HullFlag.QF_TRIANGLES);
hdesc.Vertices = c.HullVertices;
hdesc.MaxVertices = desc.mMaxVertices; // maximum number of vertices allowed in the output
if (desc.mSkinWidth != 0f)
{
hdesc.SkinWidth = desc.mSkinWidth;
hdesc.SetHullFlag(HullFlag.QF_SKIN_WIDTH); // do skin width computation.
}
HullError ret2 = HullUtils.CreateConvexHull(hdesc, ref result);
if (ret2 == HullError.QE_OK)
{
ConvexResult r = new ConvexResult(result.OutputVertices, result.Indices)
{
mHullVolume =
Concavity.computeMeshVolume(result.OutputVertices, result.Indices)
};
// the volume of the hull.
// compute the best fit OBB
//computeBestFitOBB(result.mNumOutputVertices, result.mOutputVertices, sizeof(float) * 3, r.mOBBSides, r.mOBBTransform);
//r.mOBBVolume = r.mOBBSides[0] * r.mOBBSides[1] * r.mOBBSides[2]; // compute the OBB volume.
//fm_getTranslation(r.mOBBTransform, r.mOBBCenter); // get the translation component of the 4x4 matrix.
//fm_matrixToQuat(r.mOBBTransform, r.mOBBOrientation); // extract the orientation as a quaternion.
//r.mSphereRadius = computeBoundingSphere(result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter);
//r.mSphereVolume = fm_sphereVolume(r.mSphereRadius);
mCallback(r);
}
result = null;
cr.Dispose();
}
ret = mChulls.Count;
mChulls.Clear();
return(ret);
}
public int process(DecompDesc desc)
{
int ret = 0;
MAXDEPTH = (int) desc.mDepth;
CONCAVE_PERCENT = desc.mCpercent;
MERGE_PERCENT = desc.mPpercent;
ConvexDecomposition.calcConvexDecomposition(desc.mVertices, desc.mIndices, ConvexDecompResult, 0f, 0,
MAXDEPTH, CONCAVE_PERCENT, MERGE_PERCENT);
while (combineHulls()) // keep combinging hulls until I can't combine any more...
;
int i;
for (i = 0; i < mChulls.Count; i++)
{
CHull cr = mChulls[i];
// before we hand it back to the application, we need to regenerate the hull based on the
// limits given by the user.
ConvexResult c = cr.mResult; // the high resolution hull...
HullResult result = new HullResult();
HullDesc hdesc = new HullDesc();
hdesc.SetHullFlag(HullFlag.QF_TRIANGLES);
hdesc.Vertices = c.HullVertices;
hdesc.MaxVertices = desc.mMaxVertices; // maximum number of vertices allowed in the output
if (desc.mSkinWidth != 0f)
{
hdesc.SkinWidth = desc.mSkinWidth;
hdesc.SetHullFlag(HullFlag.QF_SKIN_WIDTH); // do skin width computation.
}
HullError ret2 = HullUtils.CreateConvexHull(hdesc, ref result);
if (ret2 == HullError.QE_OK)
{
ConvexResult r = new ConvexResult(result.OutputVertices, result.Indices)
{
mHullVolume =
Concavity.computeMeshVolume(result.OutputVertices, result.Indices)
};
// the volume of the hull.
// compute the best fit OBB
//computeBestFitOBB(result.mNumOutputVertices, result.mOutputVertices, sizeof(float) * 3, r.mOBBSides, r.mOBBTransform);
//r.mOBBVolume = r.mOBBSides[0] * r.mOBBSides[1] * r.mOBBSides[2]; // compute the OBB volume.
//fm_getTranslation(r.mOBBTransform, r.mOBBCenter); // get the translation component of the 4x4 matrix.
//fm_matrixToQuat(r.mOBBTransform, r.mOBBOrientation); // extract the orientation as a quaternion.
//r.mSphereRadius = computeBoundingSphere(result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter);
//r.mSphereVolume = fm_sphereVolume(r.mSphereRadius);
mCallback(r);
}
result = null;
cr.Dispose();
}
ret = mChulls.Count;
mChulls.Clear();
return ret;
}
private void GenerateHullMesh ()
{
float[] convHulls;
_hullKey = (ulong)_pbs.GetHashCode();
if(_hullMeshDictionary.TryGetValue(_hullKey, out convHulls))
{
// create the hull definition in Bullet
// m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount);
BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, (int)convHulls[0], convHulls);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
// Let the object be scaled by Bullet (the mesh was created as a unit mesh)
_scale = _size;
return;
}
int[] indices = _mesh.getIndexListAsInt();
List<OMV.Vector3> vertices = _mesh.getVertexList();
//format conversion from IMesh format to DecompDesc format
List<int> convIndices = new List<int>();
List<float3> convVertices = new List<float3>();
for(int ii = 0; ii < indices.GetLength(0); ii++)
{
convIndices.Add(indices[ii]);
}
foreach(OMV.Vector3 vv in vertices)
{
convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
}
// setup and do convex hull conversion
_hulls = new List<ConvexResult>();
DecompDesc dcomp = new DecompDesc();
dcomp.mIndices = convIndices;
dcomp.mVertices = convVertices;
ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
// create the hull into the _hulls variable
convexBuilder.process(dcomp);
// Convert the vertices and indices for passing to unmanaged
// The hull information is passed as a large floating point array.
// The format is:
// convHulls[0] = number of hulls
// convHulls[1] = number of vertices in first hull
// convHulls[2] = hull centroid X coordinate
// convHulls[3] = hull centroid Y coordinate
// convHulls[4] = hull centroid Z coordinate
// convHulls[5] = first hull vertex X
// convHulls[6] = first hull vertex Y
// convHulls[7] = first hull vertex Z
// convHulls[8] = second hull vertex X
// ...
// convHulls[n] = number of vertices in second hull
// convHulls[n+1] = second hull centroid X coordinate
// ...
//
// TODO: is is very inefficient. Someday change the convex hull generator to return
// data structures that do not need to be converted in order to pass to Bullet.
// And maybe put the values directly into pinned memory rather than marshaling.
int hullCount = _hulls.Count;
int totalVertices = 1; // include one for the count of the hulls
foreach(ConvexResult cr in _hulls)
{
totalVertices += 4; // add four for the vertex count and centroid
totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
}
convHulls = new float[totalVertices];
convHulls[0] = (float)hullCount;
int jj = 1;
foreach(ConvexResult cr in _hulls)
{
// copy vertices for index access
float3[] verts = new float3[cr.HullVertices.Count];
int kk = 0;
foreach(float3 ff in cr.HullVertices)
{
verts[kk++] = ff;
}
// add to the array one hull's worth of data
convHulls[jj++] = cr.HullIndices.Count;
convHulls[jj++] = 0f; // centroid x,y,z
convHulls[jj++] = 0f;
convHulls[jj++] = 0f;
foreach(int ind in cr.HullIndices)
{
convHulls[jj++] = verts[ind].x;
convHulls[jj++] = verts[ind].y;
convHulls[jj++] = verts[ind].z;
}
}
// create the hull definition in Bullet
// m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount);
BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
// Let the object be scaled by Bullet (the mesh was created as a unit mesh)
_scale = _size;
}
private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
BulletShape newShape = new BulletShape();
// 20131224 not used IntPtr hullPtr = IntPtr.Zero;
HullDesc hullDesc;
if (Hulls.TryGetValue(newHullKey, out hullDesc))
{
// If the hull shape already has been created, just use the one shared instance.
newShape = hullDesc.shape.Clone();
}
else
{
// Build a new hull in the physical world.
// Pass true for physicalness as this prevents the creation of bounding box which is not needed
IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true /* isPhysical */);
if (meshData != null)
{
int[] indices = meshData.getIndexListAsInt();
float[] vertices = meshData.getVertexListAsFloat();
//format conversion from IMesh format to DecompDesc format
List<int> convIndices = new List<int>();
List<float3> convVertices = new List<float3>();
for (int ii = 0; ii < indices.Length; ii++)
{
convIndices.Add(indices[ii]);
}
for(int ii = 0; ii < vertices.Length; ii += 3)
{
convVertices.Add(new float3(vertices[ii], vertices[ii + 1], vertices[ii+2]));
}
uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit;
if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes)
{
// Simple primitive shapes we know are convex so they are better implemented with
// fewer hulls.
// Check for simple shape (prim without cuts) and reduce split parameter if so.
if (PrimHasNoCuts(pbs))
{
maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes;
}
}
// setup and do convex hull conversion
m_hulls = new List<ConvexResult>();
DecompDesc dcomp = new DecompDesc();
dcomp.mIndices = convIndices;
dcomp.mVertices = convVertices;
dcomp.mDepth = maxDepthSplit;
dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent;
dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent;
dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices;
dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth;
ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
// create the hull into the _hulls variable
convexBuilder.process(dcomp);
DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}",
BSScene.DetailLogZero, newHullKey, indices.Length, vertices.Length / 3, maxDepthSplit, m_hulls.Count);
// Convert the vertices and indices for passing to unmanaged.
// The hull information is passed as a large floating point array.
// The format is:
// convHulls[0] = number of hulls
// convHulls[1] = number of vertices in first hull
// convHulls[2] = hull centroid X coordinate
// convHulls[3] = hull centroid Y coordinate
// convHulls[4] = hull centroid Z coordinate
// convHulls[5] = first hull vertex X
// convHulls[6] = first hull vertex Y
// convHulls[7] = first hull vertex Z
// convHulls[8] = second hull vertex X
// ...
// convHulls[n] = number of vertices in second hull
// convHulls[n+1] = second hull centroid X coordinate
// ...
//
// TODO: is is very inefficient. Someday change the convex hull generator to return
// data structures that do not need to be converted in order to pass to Bullet.
// And maybe put the values directly into pinned memory rather than marshaling.
int hullCount = m_hulls.Count;
int totalVertices = 1; // include one for the count of the hulls
foreach (ConvexResult cr in m_hulls)
{
totalVertices += 4; // add four for the vertex count and centroid
totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
}
float[] convHulls = new float[totalVertices];
convHulls[0] = (float)hullCount;
int jj = 1;
foreach (ConvexResult cr in m_hulls)
{
// copy vertices for index access
float3[] verts = new float3[cr.HullVertices.Count];
int kk = 0;
foreach (float3 ff in cr.HullVertices)
{
verts[kk++] = ff;
}
// add to the array one hull's worth of data
convHulls[jj++] = cr.HullIndices.Count;
convHulls[jj++] = 0f; // centroid x,y,z
convHulls[jj++] = 0f;
convHulls[jj++] = 0f;
foreach (int ind in cr.HullIndices)
{
convHulls[jj++] = verts[ind].x;
convHulls[jj++] = verts[ind].y;
convHulls[jj++] = verts[ind].z;
}
}
// create the hull data structure in Bullet
newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls);
}
}
newShape.shapeKey = newHullKey;
return newShape;
}
private BulletShape CreatePhysicalHull(string objName, ulong newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
IntPtr hullPtr;
HullDesc hullDesc;
if (Hulls.TryGetValue(newHullKey, out hullDesc))
{
// If the hull shape already is created, just use it.
hullPtr = hullDesc.ptr;
}
else
{
// Build a new hull in the physical world
// Pass false for physicalness as this creates some sort of bounding box which we don't need
IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
int[] indices = meshData.getIndexListAsInt();
List<OMV.Vector3> vertices = meshData.getVertexList();
//format conversion from IMesh format to DecompDesc format
List<int> convIndices = new List<int>();
List<float3> convVertices = new List<float3>();
for (int ii = 0; ii < indices.GetLength(0); ii++)
{
convIndices.Add(indices[ii]);
}
foreach (OMV.Vector3 vv in vertices)
{
convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
}
// setup and do convex hull conversion
m_hulls = new List<ConvexResult>();
DecompDesc dcomp = new DecompDesc();
dcomp.mIndices = convIndices;
dcomp.mVertices = convVertices;
ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
// create the hull into the _hulls variable
convexBuilder.process(dcomp);
// Convert the vertices and indices for passing to unmanaged.
// The hull information is passed as a large floating point array.
// The format is:
// convHulls[0] = number of hulls
// convHulls[1] = number of vertices in first hull
// convHulls[2] = hull centroid X coordinate
// convHulls[3] = hull centroid Y coordinate
// convHulls[4] = hull centroid Z coordinate
// convHulls[5] = first hull vertex X
// convHulls[6] = first hull vertex Y
// convHulls[7] = first hull vertex Z
// convHulls[8] = second hull vertex X
// ...
// convHulls[n] = number of vertices in second hull
// convHulls[n+1] = second hull centroid X coordinate
// ...
//
// TODO: is is very inefficient. Someday change the convex hull generator to return
// data structures that do not need to be converted in order to pass to Bullet.
// And maybe put the values directly into pinned memory rather than marshaling.
int hullCount = m_hulls.Count;
int totalVertices = 1; // include one for the count of the hulls
foreach (ConvexResult cr in m_hulls)
{
totalVertices += 4; // add four for the vertex count and centroid
totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
}
float[] convHulls = new float[totalVertices];
convHulls[0] = (float)hullCount;
int jj = 1;
foreach (ConvexResult cr in m_hulls)
{
// copy vertices for index access
float3[] verts = new float3[cr.HullVertices.Count];
int kk = 0;
foreach (float3 ff in cr.HullVertices)
{
verts[kk++] = ff;
}
// add to the array one hull's worth of data
convHulls[jj++] = cr.HullIndices.Count;
convHulls[jj++] = 0f; // centroid x,y,z
convHulls[jj++] = 0f;
convHulls[jj++] = 0f;
foreach (int ind in cr.HullIndices)
{
convHulls[jj++] = verts[ind].x;
convHulls[jj++] = verts[ind].y;
convHulls[jj++] = verts[ind].z;
}
}
// create the hull data structure in Bullet
hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
}
BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL);
newShape.shapeKey = newHullKey;
return newShape; // 'true' means a new shape has been added to this prim
}
private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey,
PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
BulletShape newShape = new BulletShape();
IMesh meshData = null;
List<List<OMV.Vector3>> allHulls = null;
lock (physicsScene.mesher)
{
// Pass true for physicalness as this prevents the creation of bounding box which is not needed
meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */);
// If we should use the asset's hull info, fetch it out of the locked mesher
if (meshData != null && BSParam.ShouldUseAssetHulls)
{
Meshmerizer realMesher = physicsScene.mesher as Meshmerizer;
if (realMesher != null)
{
allHulls = realMesher.GetConvexHulls(size);
}
if (allHulls == null)
{
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,noAssetHull", prim.LocalID);
}
}
}
// If there is hull data in the mesh asset, build the hull from that
if (allHulls != null && BSParam.ShouldUseAssetHulls)
{
int hullCount = allHulls.Count;
int totalVertices = 1; // include one for the count of the hulls
// Using the structure described for HACD hulls, create the memory sturcture
// to pass the hull data to the creater.
foreach (List<OMV.Vector3> hullVerts in allHulls)
{
totalVertices += 4; // add four for the vertex count and centroid
totalVertices += hullVerts.Count * 3; // one vertex is three dimensions
}
float[] convHulls = new float[totalVertices];
convHulls[0] = (float)hullCount;
int jj = 1;
foreach (List<OMV.Vector3> hullVerts in allHulls)
{
convHulls[jj + 0] = hullVerts.Count;
convHulls[jj + 1] = 0f; // centroid x,y,z
convHulls[jj + 2] = 0f;
convHulls[jj + 3] = 0f;
jj += 4;
foreach (OMV.Vector3 oneVert in hullVerts)
{
convHulls[jj + 0] = oneVert.X;
convHulls[jj + 1] = oneVert.Y;
convHulls[jj + 2] = oneVert.Z;
jj += 3;
}
}
// create the hull data structure in Bullet
newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls);
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,hulls={1},totVert={2},shape={3}",
prim.LocalID, hullCount, totalVertices, newShape);
}
// If no hull specified in the asset and we should use Bullet's HACD approximation...
if (!newShape.HasPhysicalShape && BSParam.ShouldUseBulletHACD)
{
// Build the hull shape from an existing mesh shape.
// The mesh should have already been created in Bullet.
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,entry", prim.LocalID);
BSShape meshShape = BSShapeMesh.GetReference(physicsScene, true, prim);
if (meshShape.physShapeInfo.HasPhysicalShape)
{
HACDParams parms;
parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull;
parms.minClusters = BSParam.BHullMinClusters;
parms.compacityWeight = BSParam.BHullCompacityWeight;
parms.volumeWeight = BSParam.BHullVolumeWeight;
parms.concavity = BSParam.BHullConcavity;
parms.addExtraDistPoints = BSParam.NumericBool(BSParam.BHullAddExtraDistPoints);
parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints);
parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints);
parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin);
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape);
newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms);
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,shape={1}", prim.LocalID, newShape);
// Now done with the mesh shape.
meshShape.Dereference(physicsScene);
}
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
}
// If no other hull specifications, use our HACD hull approximation.
if (!newShape.HasPhysicalShape && meshData != null)
{
if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
{
// Release the fetched asset data once it has been used.
pbs.SculptData = new byte[0];
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown;
}
int[] indices = meshData.getIndexListAsInt();
List<OMV.Vector3> vertices = meshData.getVertexList();
//format conversion from IMesh format to DecompDesc format
List<int> convIndices = new List<int>();
List<float3> convVertices = new List<float3>();
for (int ii = 0; ii < indices.GetLength(0); ii++)
{
convIndices.Add(indices[ii]);
}
foreach (OMV.Vector3 vv in vertices)
{
convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
}
uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit;
if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes)
{
// Simple primitive shapes we know are convex so they are better implemented with
// fewer hulls.
// Check for simple shape (prim without cuts) and reduce split parameter if so.
if (BSShapeCollection.PrimHasNoCuts(pbs))
{
maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes;
}
}
// setup and do convex hull conversion
m_hulls = new List<ConvexResult>();
DecompDesc dcomp = new DecompDesc();
dcomp.mIndices = convIndices;
dcomp.mVertices = convVertices;
dcomp.mDepth = maxDepthSplit;
dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent;
dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent;
dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices;
dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth;
ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
// create the hull into the _hulls variable
convexBuilder.process(dcomp);
physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}",
BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count);
// Convert the vertices and indices for passing to unmanaged.
// The hull information is passed as a large floating point array.
// The format is:
// convHulls[0] = number of hulls
// convHulls[1] = number of vertices in first hull
// convHulls[2] = hull centroid X coordinate
// convHulls[3] = hull centroid Y coordinate
// convHulls[4] = hull centroid Z coordinate
// convHulls[5] = first hull vertex X
// convHulls[6] = first hull vertex Y
// convHulls[7] = first hull vertex Z
// convHulls[8] = second hull vertex X
// ...
// convHulls[n] = number of vertices in second hull
// convHulls[n+1] = second hull centroid X coordinate
// ...
//
// TODO: is is very inefficient. Someday change the convex hull generator to return
// data structures that do not need to be converted in order to pass to Bullet.
// And maybe put the values directly into pinned memory rather than marshaling.
int hullCount = m_hulls.Count;
int totalVertices = 1; // include one for the count of the hulls
foreach (ConvexResult cr in m_hulls)
{
totalVertices += 4; // add four for the vertex count and centroid
totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
}
float[] convHulls = new float[totalVertices];
convHulls[0] = (float)hullCount;
int jj = 1;
foreach (ConvexResult cr in m_hulls)
{
// copy vertices for index access
float3[] verts = new float3[cr.HullVertices.Count];
int kk = 0;
foreach (float3 ff in cr.HullVertices)
{
verts[kk++] = ff;
}
// add to the array one hull's worth of data
convHulls[jj++] = cr.HullIndices.Count;
convHulls[jj++] = 0f; // centroid x,y,z
convHulls[jj++] = 0f;
convHulls[jj++] = 0f;
foreach (int ind in cr.HullIndices)
{
convHulls[jj++] = verts[ind].x;
convHulls[jj++] = verts[ind].y;
convHulls[jj++] = verts[ind].z;
}
}
// create the hull data structure in Bullet
newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls);
}
newShape.shapeKey = newHullKey;
return newShape;
}
public HacdConvexHull[] DecomposeToConvexHulls(ulong meshHash, bool useCache, List<float3> convVertices, List<int> convIndices)
{
if (convIndices.Count % 3 != 0)
throw new InvalidOperationException("Number of indicies must be divisble by 3");
if (IsCacheCandidate(useCache, convVertices.Count))
{
//try cache
try
{
HacdConvexHull[] cachedHulls;
if (MeshingStage.HullCache.TryGetHulls(meshHash, out cachedHulls))
{
return cachedHulls;
}
}
catch (Exception e)
{
m_log.ErrorFormat("[InWorldz.PhysX.RatcliffACD] Failure retrieving HACD hulls from cache: {0}: {1}", e, e.Message);
}
}
ConvexBuilder builder = new ConvexBuilder(HullReturn);
m_hulls = new List<ConvexResult>();
DecompDesc dcomp = new DecompDesc();
dcomp.mIndices = convIndices;
dcomp.mVertices = convVertices;
builder.process(dcomp);
var retHulls = new HacdConvexHull[m_hulls.Count];
for (int i = 0; i < m_hulls.Count; i++)
{
ConvexResult hull = m_hulls[i];
float[] rawVerts = null;
if (IsCacheCandidate(useCache, convVertices.Count))
{
rawVerts = new float[hull.HullVertices.Count * 3];
}
PhysX.Math.Vector3[] hullVerts = new PhysX.Math.Vector3[hull.HullVertices.Count];
for (int j = 0; j < hull.HullVertices.Count; j++)
{
hullVerts[j] = new PhysX.Math.Vector3(hull.HullVertices[j].x, hull.HullVertices[j].y, hull.HullVertices[j].z);
if (rawVerts != null)
{
rawVerts[j * 3 + 0] = hull.HullVertices[j].x;
rawVerts[j * 3 + 1] = hull.HullVertices[j].y;
rawVerts[j * 3 + 2] = hull.HullVertices[j].z;
}
}
retHulls[i] = new HacdConvexHull {
Indicies = hull.HullIndices.ToArray(),
Vertices = hullVerts,
_rawVerts = rawVerts,
};
}
//store in cache for later
if (IsCacheCandidate(useCache, convVertices.Count))
{
try
{
MeshingStage.HullCache.CacheHulls(meshHash, retHulls);
}
catch (Exception e)
{
m_log.ErrorFormat("[InWorldz.PhysX.RatcliffACD] Failure storing HACD results in cache: {0}: {1}", e, e.Message);
}
}
return retHulls;
}