public override void InitializeDemo() { SetCameraDistance(50); int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1); int vertStride = 1; int indexStride = 3; BulletGlobals.gContactAddedCallback = new CustomMaterialCombinerCallback(); gVertices = new ObjectArray<IndexedVector3>(totalVerts); gIndices = new ObjectArray<int>(totalTriangles * 3); SetVertexPositions(waveheight, 0.0f); gVertices.GetRawArray()[1].Y = 0.1f; int index=0; int i, j; for (i=0;i<NUM_VERTS_X-1;i++) { for (j=0;j<NUM_VERTS_Y-1;j++) { #if SWAP_WINDING #if SHIFT_INDICES gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; #else gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i; #endif //SHIFT_INDICES #else //SWAP_WINDING #if SHIFT_INDICES gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = j*NUM_VERTS_X+i+1; #if TEST_INCONSISTENT_WINDING gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; #else //TEST_INCONSISTENT_WINDING gIndices[index++] = (j+1)*NUM_VERTS_X+i; gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; #endif //TEST_INCONSISTENT_WINDING #else //SHIFT_INDICES gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = j*NUM_VERTS_X+i+1; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = (j+1)*NUM_VERTS_X+i; #endif //SHIFT_INDICES #endif //SWAP_WINDING } } m_indexVertexArrays = new TriangleIndexVertexArray(totalTriangles, gIndices, indexStride, totalVerts, gVertices, vertStride); bool useQuantizedAabbCompression = true; IndexedVector3 aabbMin = new IndexedVector3 (-1000,-1000,-1000); IndexedVector3 aabbMax = new IndexedVector3(1000, 1000, 1000); trimeshShape = new BvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,ref aabbMin,ref aabbMax,true); CollisionShape groundShape = trimeshShape; TriangleInfoMap triangleInfoMap = new TriangleInfoMap(); InternalEdgeUtility.GenerateInternalEdgeInfo(trimeshShape, triangleInfoMap); m_collisionConfiguration = new DefaultCollisionConfiguration(); m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); m_broadphase = new DbvtBroadphase(); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); m_dynamicsWorld.SetDebugDrawer(m_debugDraw); IndexedVector3 gravity = new IndexedVector3(0,-10,0); m_dynamicsWorld.SetGravity(ref gravity); float mass = 0.0f; IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-2,0)); ConvexHullShape colShape = new ConvexHullShape(new List<IndexedVector3>(), 0); for (int k=0;k<DemoMeshes.TaruVtxCount;k++) { IndexedVector3 vtx = DemoMeshes.TaruVtx[k]; colShape.AddPoint(ref vtx); } //this will enable polyhedral contact clipping, better quality, slightly slower //colShape.InitializePolyhedralFeatures(); //the polyhedral contact clipping can use either GJK or SAT test to find the separating axis m_dynamicsWorld.GetDispatchInfo().m_enableSatConvex=false; { //for (int i2 = 0; i2 < 1; i2++) //{ // startTransform._origin = new IndexedVector3(-10.0f + i2 * 3.0f, 2.2f + i2 * 0.1f, -1.3f); // RigidBody body = LocalCreateRigidBody(10, startTransform, colShape); // body.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // body.SetLinearVelocity(new IndexedVector3(0, 0, -1)); // //body->setContactProcessingThreshold(0.f); //} } { BoxShape colShape2 = new BoxShape(new IndexedVector3(1, 1, 1)); //colShape.InitializePolyhedralFeatures(); m_collisionShapes.Add(colShape2); startTransform._origin = new IndexedVector3(-16.0f + i * 3.0f, 1.0f + i * 0.1f, -1.3f); RigidBody body = LocalCreateRigidBody(10, startTransform, colShape2); body.SetActivationState(ActivationState.DISABLE_DEACTIVATION); body.SetLinearVelocity(new IndexedVector3(0, 0, -1)); } startTransform = IndexedMatrix.Identity; staticBody = LocalCreateRigidBody(mass, startTransform,groundShape); //staticBody->setContactProcessingThreshold(-0.031f); staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT);//STATIC_OBJECT); //enable custom material callback staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); m_debugDraw.SetDebugMode(DebugDrawModes.DBG_DrawText | DebugDrawModes.DBG_NoHelpText | DebugDrawModes.DBG_DrawWireframe | DebugDrawModes.DBG_DrawContactPoints); //base.InitializeDemo(); //ClientResetScene(); }
private static void ProcessResult(IndexedVector3[] triangleVerts, out IndexedVector3 aabbMin, out IndexedVector3 aabbMax, BvhTriangleMeshShape trimeshShape, int partId, int triangleIndex, TriangleInfoMap triangleInfoMap) { aabbMin = MathUtil.MAX_VECTOR; aabbMax = MathUtil.MIN_VECTOR; aabbMin.SetMin(ref triangleVerts[0]); aabbMax.SetMax(ref triangleVerts[0]); aabbMin.SetMin(ref triangleVerts[1]); aabbMax.SetMax(ref triangleVerts[1]); aabbMin.SetMin(ref triangleVerts[2]); aabbMax.SetMax(ref triangleVerts[2]); ConnectivityProcessor connectivityProcessor = new ConnectivityProcessor(); connectivityProcessor.m_partIdA = partId; connectivityProcessor.m_triangleIndexA = triangleIndex; connectivityProcessor.m_triangleVerticesA = triangleVerts; connectivityProcessor.m_triangleInfoMap = triangleInfoMap; trimeshShape.ProcessAllTriangles(connectivityProcessor, ref aabbMin, ref aabbMax); }
/// Changes a btManifoldPoint collision normal to the normal from the mesh. public static void AdjustInternalEdgeContacts(ManifoldPoint cp, CollisionObject colObj0, CollisionObject colObj1, int partId0, int index0, InternalEdgeAdjustFlags normalAdjustFlags) { //btAssert(colObj0.GetCollisionShape().GetShapeType() == TRIANGLE_SHAPE_PROXYTYPE); if (colObj0.GetCollisionShape().GetShapeType() != BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE) { return; } BvhTriangleMeshShape trimesh = null; if (colObj0.GetRootCollisionShape().GetShapeType() == BroadphaseNativeTypes.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE) { //trimesh = ((ScaledBvhTriangleMeshShape)colObj0.GetRootCollisionShape()).GetChildShape(); } else { trimesh = (BvhTriangleMeshShape)colObj0.GetRootCollisionShape(); } TriangleInfoMap triangleInfoMapPtr = (TriangleInfoMap)trimesh.GetTriangleInfoMap(); if (triangleInfoMapPtr == null) { return; } int hash = GetHash(partId0, index0); TriangleInfo info; if (!triangleInfoMapPtr.TryGetValue(hash, out info)) { return; } float frontFacing = (normalAdjustFlags & InternalEdgeAdjustFlags.BT_TRIANGLE_CONVEX_BACKFACE_MODE) == 0 ? 1.0f : -1.0f; TriangleShape tri_shape = colObj0.GetCollisionShape() as TriangleShape; IndexedVector3 v0, v1, v2; tri_shape.GetVertex(0, out v0); tri_shape.GetVertex(1, out v1); tri_shape.GetVertex(2, out v2); IndexedVector3 center = (v0 + v1 + v2) * (1.0f / 3.0f); IndexedVector3 red = new IndexedVector3(1, 0, 0), green = new IndexedVector3(0, 1, 0), blue = new IndexedVector3(0, 0, 1), white = new IndexedVector3(1, 1, 1), black = new IndexedVector3(0, 0, 0); IndexedVector3 tri_normal; tri_shape.CalcNormal(out tri_normal); //float dot = tri_normal.dot(cp.m_normalWorldOnB); IndexedVector3 nearest; NearestPointInLineSegment(ref cp.m_localPointB, ref v0, ref v1, out nearest); IndexedVector3 contact = cp.m_localPointB; #if BT_INTERNAL_EDGE_DEBUG_DRAW IndexedMatrix tr = colObj0.GetWorldTransform(); DebugDrawLine(tr * nearest, tr * cp.m_localPointB, red); #endif //BT_INTERNAL_EDGE_DEBUG_DRAW bool isNearEdge = false; int numConcaveEdgeHits = 0; int numConvexEdgeHits = 0; IndexedVector3 localContactNormalOnB = colObj0.GetWorldTransform()._basis.Transpose() * cp.m_normalWorldOnB; localContactNormalOnB.Normalize();//is this necessary? // Get closest edge int bestedge = -1; float disttobestedge = MathUtil.BT_LARGE_FLOAT; // // Edge 0 . 1 if (Math.Abs(info.m_edgeV0V1Angle) < triangleInfoMapPtr.m_maxEdgeAngleThreshold) { //IndexedVector3 nearest; NearestPointInLineSegment(ref cp.m_localPointB, ref v0, ref v1, out nearest); float len = (contact - nearest).Length(); // if (len < disttobestedge) { bestedge = 0; disttobestedge = len; } } // Edge 1 . 2 if (Math.Abs(info.m_edgeV1V2Angle) < triangleInfoMapPtr.m_maxEdgeAngleThreshold) { //IndexedVector3 nearest; NearestPointInLineSegment(ref cp.m_localPointB, ref v1, ref v2, out nearest); float len = (contact - nearest).Length(); // if (len < disttobestedge) { bestedge = 1; disttobestedge = len; } } // Edge 2 . 0 if (Math.Abs(info.m_edgeV2V0Angle) < triangleInfoMapPtr.m_maxEdgeAngleThreshold) { //IndexedVector3 nearest; NearestPointInLineSegment(ref cp.m_localPointB, ref v2, ref v0, out nearest); float len = (contact - nearest).Length(); // if (len < disttobestedge) { bestedge = 2; disttobestedge = len; } } #if BT_INTERNAL_EDGE_DEBUG_DRAW IndexedVector3 upfix = tri_normal * new IndexedVector3(0.1f, 0.1f, 0.1f); DebugDrawLine(tr * v0 + upfix, tr * v1 + upfix, red); #endif if (Math.Abs(info.m_edgeV0V1Angle) < triangleInfoMapPtr.m_maxEdgeAngleThreshold) { #if BT_INTERNAL_EDGE_DEBUG_DRAW DebugDrawLine(tr * contact, tr * (contact + cp.m_normalWorldOnB * 10), black); #endif float len = (contact - nearest).Length(); if (len < triangleInfoMapPtr.m_edgeDistanceThreshold) { if (bestedge == 0) { IndexedVector3 edge = (v0 - v1); isNearEdge = true; if (info.m_edgeV0V1Angle == 0.0f) { numConcaveEdgeHits++; } else { bool isEdgeConvex = (info.m_flags & TriangleInfoMap.TRI_INFO_V0V1_CONVEX) != 0; float swapFactor = isEdgeConvex ? 1.0f : -1.0f; #if BT_INTERNAL_EDGE_DEBUG_DRAW DebugDrawLine(tr * nearest, tr * (nearest + swapFactor * tri_normal * 10), white); #endif //BT_INTERNAL_EDGE_DEBUG_DRAW IndexedVector3 nA = swapFactor * tri_normal; IndexedQuaternion orn = new IndexedQuaternion(edge, info.m_edgeV0V1Angle); IndexedVector3 computedNormalB = MathUtil.QuatRotate(ref orn, ref tri_normal); if ((info.m_flags & TriangleInfoMap.TRI_INFO_V0V1_SWAP_NORMALB) != 0) { computedNormalB *= -1; } IndexedVector3 nB = swapFactor * computedNormalB; float NdotA = localContactNormalOnB.Dot(ref nA); float NdotB = localContactNormalOnB.Dot(ref nB); bool backFacingNormal = (NdotA < triangleInfoMapPtr.m_convexEpsilon) && (NdotB < triangleInfoMapPtr.m_convexEpsilon); #if DEBUG_INTERNAL_EDGE { DebugDrawLine(cp.GetPositionWorldOnB(), cp.GetPositionWorldOnB() + tr._basis * (nB * 20), red); } #endif //DEBUG_INTERNAL_EDGE if (backFacingNormal) { numConcaveEdgeHits++; } else { numConvexEdgeHits++; IndexedVector3 clampedLocalNormal; bool isClamped = ClampNormal(edge, swapFactor * tri_normal, localContactNormalOnB, info.m_edgeV0V1Angle, out clampedLocalNormal); if (isClamped) { if (((normalAdjustFlags & InternalEdgeAdjustFlags.BT_TRIANGLE_CONVEX_DOUBLE_SIDED) != 0) || (clampedLocalNormal.Dot(frontFacing * tri_normal) > 0)) { IndexedVector3 newNormal = colObj0.GetWorldTransform()._basis *clampedLocalNormal; // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB); cp.m_normalWorldOnB = newNormal; // Reproject collision point along normal. (what about cp.m_distance1?) cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; cp.m_localPointB = colObj0.GetWorldTransform().InvXform(cp.m_positionWorldOnB); } } } } } } } NearestPointInLineSegment(ref contact, ref v1, ref v2, out nearest); #if BT_INTERNAL_EDGE_DEBUG_DRAW DebugDrawLine(tr * nearest, tr * cp.m_localPointB, green); #endif //BT_INTERNAL_EDGE_DEBUG_DRAW #if BT_INTERNAL_EDGE_DEBUG_DRAW DebugDrawLine(tr * v1 + upfix, tr * v2 + upfix, green); #endif if (Math.Abs(info.m_edgeV1V2Angle) < triangleInfoMapPtr.m_maxEdgeAngleThreshold) { #if BT_INTERNAL_EDGE_DEBUG_DRAW DebugDrawLine(tr * contact, tr * (contact + cp.m_normalWorldOnB * 10), black); #endif //BT_INTERNAL_EDGE_DEBUG_DRAW float len = (contact - nearest).Length(); if (len < triangleInfoMapPtr.m_edgeDistanceThreshold) { if (bestedge == 1) { isNearEdge = true; #if BT_INTERNAL_EDGE_DEBUG_DRAW DebugDrawLine(tr * nearest, tr * (nearest + tri_normal * 10), white); #endif //BT_INTERNAL_EDGE_DEBUG_DRAW IndexedVector3 edge = (v1 - v2); isNearEdge = true; if (info.m_edgeV1V2Angle == 0f) { numConcaveEdgeHits++; } else { bool isEdgeConvex = (info.m_flags & TriangleInfoMap.TRI_INFO_V1V2_CONVEX) != 0; float swapFactor = isEdgeConvex ? 1.0f : -1.0f; #if BT_INTERNAL_EDGE_DEBUG_DRAW DebugDrawLine(tr * nearest, tr * (nearest + swapFactor * tri_normal * 10), white); #endif //BT_INTERNAL_EDGE_DEBUG_DRAW IndexedVector3 nA = swapFactor * tri_normal; IndexedQuaternion orn = new IndexedQuaternion(edge, info.m_edgeV1V2Angle); IndexedVector3 computedNormalB = MathUtil.QuatRotate(ref orn, ref tri_normal); if ((info.m_flags & TriangleInfoMap.TRI_INFO_V1V2_SWAP_NORMALB) != 0) { computedNormalB *= -1; } IndexedVector3 nB = swapFactor * computedNormalB; #if DEBUG_INTERNAL_EDGE { DebugDrawLine(cp.GetPositionWorldOnB(), cp.GetPositionWorldOnB() + tr._basis * (nB * 20), red); } #endif //DEBUG_INTERNAL_EDGE float NdotA = localContactNormalOnB.Dot(ref nA); float NdotB = localContactNormalOnB.Dot(ref nB); bool backFacingNormal = (NdotA < triangleInfoMapPtr.m_convexEpsilon) && (NdotB < triangleInfoMapPtr.m_convexEpsilon); if (backFacingNormal) { numConcaveEdgeHits++; } else { numConvexEdgeHits++; IndexedVector3 localContactNormalOnB2 = colObj0.GetWorldTransform()._basis.Transpose() * cp.m_normalWorldOnB; IndexedVector3 clampedLocalNormal; bool isClamped = ClampNormal(edge, swapFactor * tri_normal, localContactNormalOnB2, info.m_edgeV1V2Angle, out clampedLocalNormal); if (isClamped) { if (((normalAdjustFlags & InternalEdgeAdjustFlags.BT_TRIANGLE_CONVEX_DOUBLE_SIDED) != 0) || (clampedLocalNormal.Dot(frontFacing * tri_normal) > 0)) { IndexedVector3 newNormal = colObj0.GetWorldTransform()._basis *clampedLocalNormal; // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB); cp.m_normalWorldOnB = newNormal; // Reproject collision point along normal. cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; cp.m_localPointB = colObj0.GetWorldTransform().InvXform(cp.m_positionWorldOnB); } } } } } } } NearestPointInLineSegment(ref contact, ref v2, ref v0, out nearest); #if BT_INTERNAL_EDGE_DEBUG_DRAW DebugDrawLine(tr * nearest, tr * cp.m_localPointB, blue); #endif //BT_INTERNAL_EDGE_DEBUG_DRAW #if BT_INTERNAL_EDGE_DEBUG_DRAW DebugDrawLine(tr * v2 + upfix, tr * v0 + upfix, blue); #endif if (Math.Abs(info.m_edgeV2V0Angle) < triangleInfoMapPtr.m_maxEdgeAngleThreshold) { #if BT_INTERNAL_EDGE_DEBUG_DRAW DebugDrawLine(tr * contact, tr * (contact + cp.m_normalWorldOnB * 10), black); #endif //BT_INTERNAL_EDGE_DEBUG_DRAW float len = (contact - nearest).Length(); if (len < triangleInfoMapPtr.m_edgeDistanceThreshold) { if (bestedge == 2) { isNearEdge = true; #if BT_INTERNAL_EDGE_DEBUG_DRAW DebugDrawLine(tr * nearest, tr * (nearest + tri_normal * 10), white); #endif //BT_INTERNAL_EDGE_DEBUG_DRAW IndexedVector3 edge = (v2 - v0); if (info.m_edgeV2V0Angle == 0f) { numConcaveEdgeHits++; } else { bool isEdgeConvex = (info.m_flags & TriangleInfoMap.TRI_INFO_V2V0_CONVEX) != 0; float swapFactor = isEdgeConvex ? 1.0f : -1.0f; #if BT_INTERNAL_EDGE_DEBUG_DRAW DebugDrawLine(tr * nearest, tr * (nearest + swapFactor * tri_normal * 10), white); #endif //BT_INTERNAL_EDGE_DEBUG_DRAW IndexedVector3 nA = swapFactor * tri_normal; IndexedQuaternion orn = new IndexedQuaternion(edge, info.m_edgeV2V0Angle); IndexedVector3 computedNormalB = MathUtil.QuatRotate(ref orn, ref tri_normal); if ((info.m_flags & TriangleInfoMap.TRI_INFO_V2V0_SWAP_NORMALB) != 0) { computedNormalB *= -1; } IndexedVector3 nB = swapFactor * computedNormalB; #if DEBUG_INTERNAL_EDGE { DebugDrawLine(cp.GetPositionWorldOnB(), cp.GetPositionWorldOnB() + tr._basis * (nB * 20), red); } #endif //DEBUG_INTERNAL_EDGE float NdotA = localContactNormalOnB.Dot(ref nA); float NdotB = localContactNormalOnB.Dot(ref nB); bool backFacingNormal = (NdotA < triangleInfoMapPtr.m_convexEpsilon) && (NdotB < triangleInfoMapPtr.m_convexEpsilon); if (backFacingNormal) { numConcaveEdgeHits++; } else { numConvexEdgeHits++; // printf("hitting convex edge\n"); IndexedVector3 localContactNormalOnB2 = colObj0.GetWorldTransform()._basis.Transpose() * cp.m_normalWorldOnB; IndexedVector3 clampedLocalNormal; bool isClamped = ClampNormal(edge, swapFactor * tri_normal, localContactNormalOnB2, info.m_edgeV2V0Angle, out clampedLocalNormal); if (isClamped) { if (((normalAdjustFlags & InternalEdgeAdjustFlags.BT_TRIANGLE_CONVEX_DOUBLE_SIDED) != 0) || (clampedLocalNormal.Dot(frontFacing * tri_normal) > 0)) { IndexedVector3 newNormal = colObj0.GetWorldTransform()._basis *clampedLocalNormal; // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB); cp.m_normalWorldOnB = newNormal; // Reproject collision point along normal. cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; cp.m_localPointB = colObj0.GetWorldTransform().InvXform(cp.m_positionWorldOnB); } } } } } } } #if DEBUG_INTERNAL_EDGE { IndexedVector3 color = new IndexedVector3(0, 1, 1); DebugDrawLine(cp.GetPositionWorldOnB(), cp.GetPositionWorldOnB() + cp.m_normalWorldOnB * 10, color); } #endif //DEBUG_INTERNAL_EDGE if (isNearEdge) { if (numConcaveEdgeHits > 0) { if ((normalAdjustFlags & InternalEdgeAdjustFlags.BT_TRIANGLE_CONCAVE_DOUBLE_SIDED) != 0) { //fix tri_normal so it pointing the same direction as the current local contact normal if (tri_normal.Dot(ref localContactNormalOnB) < 0) { tri_normal *= -1; } cp.m_normalWorldOnB = colObj0.GetWorldTransform()._basis *tri_normal; } else { IndexedVector3 newNormal = tri_normal * frontFacing; //if the tri_normal is pointing opposite direction as the current local contact normal, skip it float d = newNormal.Dot(ref localContactNormalOnB); if (d < 0) { return; } //modify the normal to be the triangle normal (or backfacing normal) cp.m_normalWorldOnB = colObj0.GetWorldTransform()._basis *newNormal; } // Reproject collision point along normal. cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; cp.m_localPointB = colObj0.GetWorldTransform().InvXform(cp.m_positionWorldOnB); } } }
///////////////////////////////////////////////////////// ///////////////////////////////////////////////////////// public static void GenerateInternalEdgeInfo(BvhTriangleMeshShape trimeshShape, TriangleInfoMap triangleInfoMap) { //the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there! if (trimeshShape.GetTriangleInfoMap() != null) { return; } trimeshShape.SetTriangleInfoMap(triangleInfoMap); StridingMeshInterface meshInterface = trimeshShape.GetMeshInterface(); IndexedVector3 meshScaling = meshInterface.GetScaling(); for (int partId = 0; partId < meshInterface.GetNumSubParts(); partId++) { object vertexbase = null; int numverts = 0; PHY_ScalarType type = PHY_ScalarType.PHY_INTEGER; int stride = 0; object indexbase = null; int indexstride = 0; int numfaces = 0; PHY_ScalarType indicestype = PHY_ScalarType.PHY_INTEGER; //PHY_ScalarType indexType=0; IndexedVector3[] triangleVerts = new IndexedVector3[3]; meshInterface.GetLockedReadOnlyVertexIndexBase(out vertexbase, out numverts, out type, out stride, out indexbase, out indexstride, out numfaces, out indicestype, partId); IndexedVector3 aabbMin, aabbMax; switch (indicestype) { case PHY_ScalarType.PHY_INTEGER: { int[] indexList = ((ObjectArray <int>)indexbase).GetRawArray(); if (vertexbase is ObjectArray <IndexedVector3> ) { IndexedVector3[] vertexList = (vertexbase as ObjectArray <IndexedVector3>).GetRawArray(); int indexCounter = 0; for (int triangleIndex = 0; triangleIndex < numfaces; triangleIndex++) { int index1 = indexList[triangleIndex]; int index2 = indexList[triangleIndex + 1]; int index3 = indexList[triangleIndex + 2]; triangleVerts[0] = new IndexedVector3(vertexList[index1]) * meshScaling; triangleVerts[1] = new IndexedVector3(vertexList[index2]) * meshScaling; triangleVerts[2] = new IndexedVector3(vertexList[index3]) * meshScaling; ProcessResult(triangleVerts, out aabbMin, out aabbMax, trimeshShape, partId, triangleIndex, triangleInfoMap); } } #if XNA else if (vertexbase is ObjectArray <Microsoft.Xna.Framework.Vector3> ) { Microsoft.Xna.Framework.Vector3[] vertexList = (vertexbase as ObjectArray <Microsoft.Xna.Framework.Vector3>).GetRawArray(); int indexCounter = 0; for (int triangleIndex = 0; triangleIndex < numfaces; triangleIndex++) { int index1 = indexList[triangleIndex]; int index2 = indexList[triangleIndex + 1]; int index3 = indexList[triangleIndex + 2]; triangleVerts[0] = new IndexedVector3(vertexList[index1]) * meshScaling; triangleVerts[1] = new IndexedVector3(vertexList[index2]) * meshScaling; triangleVerts[2] = new IndexedVector3(vertexList[index3]) * meshScaling; ProcessResult(triangleVerts, out aabbMin, out aabbMax, trimeshShape, partId, triangleIndex, triangleInfoMap); } } #endif else if (vertexbase is ObjectArray <float> ) { float[] vertexList = (vertexbase as ObjectArray <float>).GetRawArray(); for (int triangleIndex = 0; triangleIndex < numfaces; triangleIndex++) { triangleVerts[0] = new IndexedVector3(vertexList[indexList[triangleIndex]], vertexList[indexList[triangleIndex] + 1], vertexList[indexList[triangleIndex] + 2]) * meshScaling; triangleVerts[1] = new IndexedVector3(vertexList[indexList[triangleIndex + 1]], vertexList[indexList[triangleIndex + 1] + 1], vertexList[indexList[triangleIndex + 1] + 2]) * meshScaling; triangleVerts[2] = new IndexedVector3(vertexList[indexList[triangleIndex + 2]], vertexList[indexList[triangleIndex + 2] + 1], vertexList[indexList[triangleIndex + 2] + 2]) * meshScaling; ProcessResult(triangleVerts, out aabbMin, out aabbMax, trimeshShape, partId, triangleIndex, triangleInfoMap); } } break; } default: { Debug.Assert(indicestype == PHY_ScalarType.PHY_INTEGER); break; } } } }
///////////////////////////////////////////////////////// ///////////////////////////////////////////////////////// public static void GenerateInternalEdgeInfo(BvhTriangleMeshShape trimeshShape, TriangleInfoMap triangleInfoMap) { //the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there! if (trimeshShape.GetTriangleInfoMap() != null) { return; } trimeshShape.SetTriangleInfoMap(triangleInfoMap); StridingMeshInterface meshInterface = trimeshShape.GetMeshInterface(); IndexedVector3 meshScaling = meshInterface.GetScaling(); for (int partId = 0; partId < meshInterface.GetNumSubParts(); partId++) { object vertexbase = null; int numverts = 0; PHY_ScalarType type = PHY_ScalarType.PHY_INTEGER; int stride = 0; object indexbase = null; int indexstride = 0; int numfaces = 0; PHY_ScalarType indicestype = PHY_ScalarType.PHY_INTEGER; //PHY_ScalarType indexType=0; IndexedVector3[] triangleVerts = new IndexedVector3[3]; meshInterface.GetLockedReadOnlyVertexIndexBase(out vertexbase, out numverts, out type, out stride, out indexbase, out indexstride, out numfaces, out indicestype, partId); IndexedVector3 aabbMin, aabbMax; switch (indicestype) { case PHY_ScalarType.PHY_INTEGER: { int[] indexList = ((ObjectArray<int>)indexbase).GetRawArray(); if (vertexbase is ObjectArray<IndexedVector3>) { IndexedVector3[] vertexList = (vertexbase as ObjectArray<IndexedVector3>).GetRawArray(); int indexCounter = 0; for (int triangleIndex = 0; triangleIndex < numfaces; triangleIndex++) { int index1 = indexList[triangleIndex]; int index2 = indexList[triangleIndex + 1]; int index3 = indexList[triangleIndex + 2]; triangleVerts[0] = new IndexedVector3(vertexList[index1]) * meshScaling; triangleVerts[1] = new IndexedVector3(vertexList[index2]) * meshScaling; triangleVerts[2] = new IndexedVector3(vertexList[index3]) * meshScaling; ProcessResult(triangleVerts, out aabbMin, out aabbMax, trimeshShape, partId, triangleIndex, triangleInfoMap); } } #if XNA else if (vertexbase is ObjectArray<Microsoft.Xna.Framework.Vector3>) { Microsoft.Xna.Framework.Vector3[] vertexList = (vertexbase as ObjectArray<Microsoft.Xna.Framework.Vector3>).GetRawArray(); int indexCounter = 0; for (int triangleIndex = 0; triangleIndex < numfaces; triangleIndex++) { int index1 = indexList[triangleIndex]; int index2 = indexList[triangleIndex + 1]; int index3 = indexList[triangleIndex + 2]; triangleVerts[0] = new IndexedVector3(vertexList[index1]) * meshScaling; triangleVerts[1] = new IndexedVector3(vertexList[index2]) * meshScaling; triangleVerts[2] = new IndexedVector3(vertexList[index3]) * meshScaling; ProcessResult(triangleVerts, out aabbMin, out aabbMax, trimeshShape, partId, triangleIndex, triangleInfoMap); } } #endif else if (vertexbase is ObjectArray<float>) { float[] vertexList = (vertexbase as ObjectArray<float>).GetRawArray(); for (int triangleIndex = 0; triangleIndex < numfaces; triangleIndex++) { triangleVerts[0] = new IndexedVector3(vertexList[indexList[triangleIndex]], vertexList[indexList[triangleIndex] + 1], vertexList[indexList[triangleIndex] + 2]) * meshScaling; triangleVerts[1] = new IndexedVector3(vertexList[indexList[triangleIndex + 1]], vertexList[indexList[triangleIndex + 1] + 1], vertexList[indexList[triangleIndex + 1] + 2]) * meshScaling; triangleVerts[2] = new IndexedVector3(vertexList[indexList[triangleIndex + 2]], vertexList[indexList[triangleIndex + 2] + 1], vertexList[indexList[triangleIndex + 2] + 2]) * meshScaling; ProcessResult(triangleVerts, out aabbMin, out aabbMax, trimeshShape, partId, triangleIndex, triangleInfoMap); } } break; } default: { Debug.Assert(indicestype == PHY_ScalarType.PHY_INTEGER); break; } } } }
public override void InitializeDemo() { SetCameraDistance(50); int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1); int vertStride = 1; int indexStride = 3; BulletGlobals.gContactAddedCallback = new CustomMaterialCombinerCallback(); gVertices = new ObjectArray <IndexedVector3>(totalVerts); gIndices = new ObjectArray <int>(totalTriangles * 3); SetVertexPositions(waveheight, 0.0f); gVertices.GetRawArray()[1].Y = 0.1f; int index = 0; int i, j; for (i = 0; i < NUM_VERTS_X - 1; i++) { for (j = 0; j < NUM_VERTS_Y - 1; j++) { #if SWAP_WINDING #if SHIFT_INDICES gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; gIndices[index++] = j * NUM_VERTS_X + i + 1; gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = (j + 1) * NUM_VERTS_X + i; gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; #else gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; gIndices[index++] = j * NUM_VERTS_X + i + 1; gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = (j + 1) * NUM_VERTS_X + i; gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; gIndices[index++] = j * NUM_VERTS_X + i; #endif //SHIFT_INDICES #else //SWAP_WINDING #if SHIFT_INDICES gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = j * NUM_VERTS_X + i + 1; #if TEST_INCONSISTENT_WINDING gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = (j + 1) * NUM_VERTS_X + i; gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; #else //TEST_INCONSISTENT_WINDING gIndices[index++] = (j + 1) * NUM_VERTS_X + i; gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; #endif //TEST_INCONSISTENT_WINDING #else //SHIFT_INDICES gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = j * NUM_VERTS_X + i + 1; gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; gIndices[index++] = (j + 1) * NUM_VERTS_X + i; #endif //SHIFT_INDICES #endif //SWAP_WINDING } } m_indexVertexArrays = new TriangleIndexVertexArray(totalTriangles, gIndices, indexStride, totalVerts, gVertices, vertStride); bool useQuantizedAabbCompression = true; IndexedVector3 aabbMin = new IndexedVector3(-1000, -1000, -1000); IndexedVector3 aabbMax = new IndexedVector3(1000, 1000, 1000); trimeshShape = new BvhTriangleMeshShape(m_indexVertexArrays, useQuantizedAabbCompression, ref aabbMin, ref aabbMax, true); CollisionShape groundShape = trimeshShape; TriangleInfoMap triangleInfoMap = new TriangleInfoMap(); InternalEdgeUtility.GenerateInternalEdgeInfo(trimeshShape, triangleInfoMap); m_collisionConfiguration = new DefaultCollisionConfiguration(); m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); m_broadphase = new DbvtBroadphase(); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); m_dynamicsWorld.SetDebugDrawer(m_debugDraw); IndexedVector3 gravity = new IndexedVector3(0, -10, 0); m_dynamicsWorld.SetGravity(ref gravity); float mass = 0.0f; IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -2, 0)); ConvexHullShape colShape = new ConvexHullShape(new List <IndexedVector3>(), 0); for (int k = 0; k < DemoMeshes.TaruVtxCount; k++) { IndexedVector3 vtx = DemoMeshes.TaruVtx[k]; colShape.AddPoint(ref vtx); } //this will enable polyhedral contact clipping, better quality, slightly slower //colShape.InitializePolyhedralFeatures(); //the polyhedral contact clipping can use either GJK or SAT test to find the separating axis m_dynamicsWorld.GetDispatchInfo().m_enableSatConvex = false; { //for (int i2 = 0; i2 < 1; i2++) //{ // startTransform._origin = new IndexedVector3(-10.0f + i2 * 3.0f, 2.2f + i2 * 0.1f, -1.3f); // RigidBody body = LocalCreateRigidBody(10, startTransform, colShape); // body.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // body.SetLinearVelocity(new IndexedVector3(0, 0, -1)); // //body->setContactProcessingThreshold(0.f); //} } { BoxShape colShape2 = new BoxShape(new IndexedVector3(1, 1, 1)); //colShape.InitializePolyhedralFeatures(); m_collisionShapes.Add(colShape2); startTransform._origin = new IndexedVector3(-16.0f + i * 3.0f, 1.0f + i * 0.1f, -1.3f); RigidBody body = LocalCreateRigidBody(10, startTransform, colShape2); body.SetActivationState(ActivationState.DISABLE_DEACTIVATION); body.SetLinearVelocity(new IndexedVector3(0, 0, -1)); } startTransform = IndexedMatrix.Identity; staticBody = LocalCreateRigidBody(mass, startTransform, groundShape); //staticBody->setContactProcessingThreshold(-0.031f); staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT); //STATIC_OBJECT); //enable custom material callback staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); m_debugDraw.SetDebugMode(DebugDrawModes.DBG_DrawText | DebugDrawModes.DBG_NoHelpText | DebugDrawModes.DBG_DrawWireframe | DebugDrawModes.DBG_DrawContactPoints); //base.InitializeDemo(); //ClientResetScene(); }
public void SetTriangleInfoMap(TriangleInfoMap triangleInfoMap) { m_triangleInfoMap = triangleInfoMap; }