public btPolyhedralConvexShape GetPolihedralConvexShape()
{
IntPtr cPtr = BulletCollisionPINVOKE.btConvexHullShape_GetPolihedralConvexShape(swigCPtr);
btPolyhedralConvexShape ret = (cPtr == IntPtr.Zero) ? null : new btPolyhedralConvexShape(cPtr, false);
return(ret);
}
internal static HandleRef getCPtr(btPolyhedralConvexShape obj)
{
return((obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr);
}
internal static HandleRef getCPtr(btPolyhedralConvexShape obj)
{
return (obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr;
}
public bool OnBulletCreate()
{
if( collisionShapePtr != null ) // can't be created multi-times
return true;
if( ShapeType == CollisionShapeType.BoxShape)
{
btVector3 vec = new btVector3(BoxShapeVec.x*transform.localScale.x,BoxShapeVec.y*transform.localScale.y,BoxShapeVec.z*transform.localScale.z);
boxShape = new btBoxShape(vec.GetSwigPtr());
collisionShapePtr = boxShape.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.SphereShape)
{
float maxFactor = Mathf.Max(transform.localScale.x,transform.localScale.y);
maxFactor = Mathf.Max(transform.localScale.z,maxFactor);
sphereShape = new btSphereShape(SphereShapeRadius*maxFactor);
collisionShapePtr = sphereShape.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.CapsuleShape)
{
float maxFactor = Mathf.Max(transform.localScale.x,transform.localScale.z);
capsuleShape = new btCapsuleShape(CapsuleRadius*maxFactor,CapsuleHeight*transform.localScale.y);
collisionShapePtr = capsuleShape.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.CylinderShape)
{
float maxFactor = Mathf.Max(transform.localScale.x,transform.localScale.z);
btVector3 vec = new btVector3(CylinderRadius*maxFactor,CylinderHeight*transform.localScale.y,CylinderRadius*maxFactor);
cylinderShape = new btCylinderShape(vec.GetSwigPtr());
collisionShapePtr = cylinderShape.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.ConeShape)
{
float maxFactor = Mathf.Max(transform.localScale.x,transform.localScale.z);
coneShape = new btConeShape(ConeRadius*maxFactor,ConeHeight*transform.localScale.y);
collisionShapePtr = coneShape.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.ConvexHull )
{
if(CheckUnityMesh() == false)
return false;
List<float> vertexposList = new List<float>();
for(int index=0;index<meshFilter.mesh.vertexCount;index++)
{
Vector3 vec = meshFilter.mesh.vertices[index];
vertexposList.Add(vec.x);
vertexposList.Add(vec.y);
vertexposList.Add(vec.z);
}
convexHull = new btConvexHullShape(vertexposList.ToArray(),meshFilter.mesh.vertexCount,3*sizeof(float));
convexPolyhedral = convexHull.GetPolihedralConvexShape();
//convexPolyhedral.initializePolyhedralFeatures();
collisionShapePtr = convexHull.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.CompoundShape )
{
// use all its children's collision shapes to create itself...
if( CollisionShapeArray == null || CollisionShapeArray.Length == 0 )
{
Debug.Log("There is no child collision shapes to use CompoundShape!");
return false;
}
compoundShape = new btCompoundShape();
for( int i=0;i<CollisionShapeArray.Length;i++)
{
if( CollisionShapeArray[i] == null )
continue;
if( CollisionShapeArray[i].gameObject == gameObject )
continue;
bool result = CollisionShapeArray[i].OnBulletCreate();
if( result == false )
{
Debug.Log(" Bullet Collision Create Error!");
return false;
}
Transform t = CollisionShapeArray[i].transform;
Matrix4x4 objMatrix = Matrix4x4.TRS(t.localPosition,t.localRotation,t.localScale);
btVector3 pos = new btVector3(t.localPosition.x,t.localPosition.y,t.localPosition.z);
btQuaternion rot = new btQuaternion(t.localRotation.x,t.localRotation.y,t.localRotation.z,t.localRotation.w);
btTransform trans = new btTransform(rot,pos);
compoundShape.addChildShape(trans.GetSwigPtr(),CollisionShapeArray[i].GetCollisionShapePtr());
}
collisionShapePtr = compoundShape.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.BvhTriangleMeshShape )
{
if(CheckUnityMesh() == false)
return false;
List<float> verList = new List<float>();
for(int index=0;index<meshFilter.mesh.vertexCount;index++)
{
Vector3 vec = meshFilter.mesh.vertices[index];
//vec = transform.TransformPoint(vec);
verList.Add(vec.x);
verList.Add(vec.y);
verList.Add(vec.z);
}
meshVertexArray = verList.ToArray();
List<int> indexList = new List<int>();
// Unity3D counter clock-wise to Bullet's clock wise.
for( int i=0;i< meshFilter.mesh.triangles.Length;i+=3)
{
indexList.Add(meshFilter.mesh.triangles[i]);
indexList.Add(meshFilter.mesh.triangles[i+2]);
indexList.Add(meshFilter.mesh.triangles[i+1]);
}
meshIndexArray = indexList.ToArray();
triangleArray = new btTriangleIndexVertexArray(indexList.Count/3,meshIndexArray,3*sizeof(int),
meshFilter.mesh.vertexCount,meshVertexArray,3*sizeof(float));
bvhTriangleMeshShape = new btBvhTriangleMeshShape(triangleArray.GetSwigPtr(),true);
collisionShapePtr = bvhTriangleMeshShape.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.StaticPlaneShape)
{
btVector3 vec = new btVector3(StaticPlaneNormal.x,StaticPlaneNormal.y,StaticPlaneNormal.z);
staticPlaneShape = new btStaticPlaneShape(vec.GetSwigPtr(),StaticPlaneConstant);
collisionShapePtr = staticPlaneShape.GetSwigPtr();
}
return true;
}
//it is very slow, so don't use it if you don't need it indeed..
public static void DebugDrawPolyhedron(Vector3 position,Quaternion rotation,Vector3 scale,btPolyhedralConvexShape shape,Color color)
{
if( shape == null )
return;
Matrix4x4 matrix = Matrix4x4.TRS(position,rotation,scale);
Gizmos.color = color;
btConvexPolyhedron poly = shape.getConvexPolyhedron();
if( poly == null )
return;
int faceSize = poly.m_faces.size();
for (int i=0;i < faceSize;i++)
{
Vector3 centroid = new Vector3(0,0,0);
btFace face = poly.m_faces.at(i);
int numVerts = face.m_indices.size();
if (numVerts > 0)
{
int lastV = face.m_indices.at(numVerts-1);
for (int v=0;v < numVerts;v++)
{
int curVert = face.m_indices.at(v);
btVector3 curVertObject = btVector3.GetObjectFromSwigPtr(poly.m_vertices.at(curVert));
centroid.x += curVertObject.x();
centroid.y += curVertObject.y();
centroid.z += curVertObject.z();
btVector3 btv1 = btVector3.GetObjectFromSwigPtr(poly.m_vertices.at(lastV));
btVector3 btv2 = btVector3.GetObjectFromSwigPtr(poly.m_vertices.at(curVert));
Vector3 v1 = new Vector3(btv1.x(),btv1.y(),btv1.z());
Vector3 v2 = new Vector3(btv2.x(),btv2.y(),btv2.z());
v1 = matrix.MultiplyPoint(v1);
v2 = matrix.MultiplyPoint(v2);
Gizmos.DrawLine(v1,v2);
lastV = curVert;
}
}
float s = 1.0f/numVerts;
centroid.x *= s;
centroid.y *= s;
centroid.z *= s;
//normal draw
// {
// Vector3 normalColor = new Vector3(1,1,0);
//
// btVector3 faceNormal(face.m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
// getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
// }
}
}
