public unsafe static void GetLocalAabbMax(this TriangleMeshShape obj, out OpenTK.Vector3 value)
{
fixed(OpenTK.Vector3 *valuePtr = &value)
{
*(BulletSharp.Math.Vector3 *)valuePtr = obj.LocalAabbMax;
}
}
public unsafe static OpenTK.Vector3 LocalGetSupportingVertexWithoutMargin(this TriangleMeshShape obj, ref OpenTK.Vector3 vec)
{
fixed(OpenTK.Vector3 *vecPtr = &vec)
{
return(obj.LocalGetSupportingVertexWithoutMargin(ref *(BulletSharp.Math.Vector3 *)vecPtr).ToOpenTK());
}
}
static Vector3[] CreateTriangleMesh(TriangleMeshShape shape)
{
StridingMeshInterface meshInterface = shape.MeshInterface;
BulletSharp.DataStream vertexBuffer, indexBuffer;
int numVerts, numFaces;
PhyScalarType vertsType, indicesType;
int vertexStride, indexStride;
meshInterface.GetLockedReadOnlyVertexIndexData(out vertexBuffer, out numVerts, out vertsType, out vertexStride,
out indexBuffer, out indexStride, out numFaces, out indicesType);
Vector3[] vertices = new Vector3[numFaces * 3 * 2];
// Need to un-index the vertex buffer to make the normals right.
int v = 0;
while (indexBuffer.Position < indexBuffer.Length)
{
uint i = indexBuffer.Read<uint>();
vertexBuffer.Position = vertexStride * i;
Vector3 v0 = vertexBuffer.Read<Vector3>();
i = indexBuffer.Read<uint>();
vertexBuffer.Position = vertexStride * i;
Vector3 v1 = vertexBuffer.Read<Vector3>();
i = indexBuffer.Read<uint>();
vertexBuffer.Position = vertexStride * i;
Vector3 v2 = vertexBuffer.Read<Vector3>();
Vector3 v01 = v0 - v1;
Vector3 v02 = v0 - v2;
Vector3 normal = Vector3.Cross(v01, v02);
normal.Normalize();
vertices[v++] = v0;
vertices[v++] = normal;
vertices[v++] = v1;
vertices[v++] = normal;
vertices[v++] = v2;
vertices[v++] = normal;
}
return vertices;
}
/*
Mesh CreateStaticPlaneShape(StaticPlaneShape shape)
{
// Load shader
if (planeShader == null)
{
Assembly assembly = Assembly.GetExecutingAssembly();
Stream shaderStream = assembly.GetManifestResourceStream("DemoFramework.checker_shader.fx");
planeShader = Effect.FromStream(device, shaderStream, ShaderFlags.None);
}
Vector3[] vertices = new Vector3[4 * 2];
Mesh mesh = new Mesh(device, 2, 4, MeshFlags.SystemMemory, VertexFormat.Position | VertexFormat.Normal);
Vector3 planeOrigin = shape.PlaneNormal * shape.PlaneConstant;
Vector3 vec0, vec1;
PlaneSpace1(shape.PlaneNormal, out vec0, out vec1);
float size = 1000;
Vector3[] verts = new Vector3[4]
{
planeOrigin + vec0*size,
planeOrigin - vec0*size,
planeOrigin + vec1*size,
planeOrigin - vec1*size
};
SlimDX.DataStream vertexBuffer = mesh.LockVertexBuffer(LockFlags.Discard);
vertexBuffer.Write(verts[0]);
vertexBuffer.Position += 12;
vertexBuffer.Write(verts[1]);
vertexBuffer.Position += 12;
vertexBuffer.Write(verts[2]);
vertexBuffer.Position += 12;
vertexBuffer.Write(verts[3]);
vertexBuffer.Position += 12;
mesh.UnlockVertexBuffer();
SlimDX.DataStream indexBuffer = mesh.LockIndexBuffer(LockFlags.Discard);
indexBuffer.Write((short)1);
indexBuffer.Write((short)2);
indexBuffer.Write((short)0);
indexBuffer.Write((short)1);
indexBuffer.Write((short)3);
indexBuffer.Write((short)0);
mesh.UnlockIndexBuffer();
mesh.ComputeNormals();
complexShapes.Add(shape, mesh);
return mesh;
}
*/
ShapeData CreateTriangleMeshShape(TriangleMeshShape shape)
{
StridingMeshInterface meshInterface = shape.MeshInterface;
BulletSharp.DataStream vertexStream, indexStream;
int numVerts, numFaces;
PhyScalarType vertsType, indicesType;
int vertexStride, indexStride;
meshInterface.GetLockedReadOnlyVertexIndexData(out vertexStream, out numVerts, out vertsType, out vertexStride,
out indexStream, out indexStride, out numFaces, out indicesType);
ShapeData shapeData = new ShapeData();
shapeData.VertexCount = numVerts;
shapeData.IndexCount = numFaces * 3;
Vector3[] vertices = new Vector3[shapeData.VertexCount * 2];
int v = 0;
int vStrideExtra = vertexStride - Marshal.SizeOf(typeof(Vector3));
while (vertexStream.Position < vertexStream.Length)
{
Vector3 v0 = vertexStream.Read<Vector3>();
vertexStream.Position += vStrideExtra;
Vector3 v1 = vertexStream.Read<Vector3>();
vertexStream.Position += vStrideExtra;
Vector3 v2 = vertexStream.Read<Vector3>();
vertexStream.Position += vStrideExtra;
Vector3 v01 = v0 - v1;
Vector3 v02 = v0 - v2;
Vector3 normal = Vector3.Cross(v01, v02);
vertices[v++] = v0;
vertices[v++] = normal;
vertices[v++] = v1;
vertices[v++] = normal;
vertices[v++] = v2;
vertices[v++] = normal;
}
int i = 0;
if (numVerts > 65536)
{
uint[] indices = new uint[shapeData.IndexCount];
while (indexStream.Position < indexStream.Length)
indices[i++] = indexStream.Read<uint>();
shapeData.SetIndexBuffer(device, indices);
}
else
{
ushort[] indices = new ushort[shapeData.IndexCount];
while (indexStream.Position < indexStream.Length)
indices[i++] = (ushort)indexStream.Read<int>();
shapeData.SetIndexBuffer(device, indices);
}
shapeData.SetVertexBuffer(device, vertices);
return shapeData;
}
public static OpenTK.Vector3 GetLocalAabbMin(this TriangleMeshShape obj)
{
OpenTK.Vector3 value;
GetLocalAabbMin(obj, out value);
return(value);
}
Mesh CreateTriangleMeshShape(TriangleMeshShape shape)
{
StridingMeshInterface meshInterface = shape.MeshInterface;
BulletSharp.DataStream verts, indices;
int numVerts, numFaces;
PhyScalarType vertsType, indicesType;
int vertexStride, indexStride;
meshInterface.GetLockedReadOnlyVertexIndexData(out verts, out numVerts, out vertsType, out vertexStride,
out indices, out indexStride, out numFaces, out indicesType);
bool index32 = numVerts > 65536;
Mesh mesh = new Mesh(device, numFaces, numVerts,
MeshFlags.SystemMemory | (index32 ? MeshFlags.Use32Bit : 0), VertexFormat.Position | VertexFormat.Normal);
SlimDX.DataStream data = mesh.LockVertexBuffer(LockFlags.None);
while (verts.Position < verts.Length)
{
Vector3 v = verts.Read<Vector3>();
data.Write(v);
verts.Position += vertexStride - 12;
// Normals will be calculated later
data.Position += 12;
}
mesh.UnlockVertexBuffer();
data = mesh.LockIndexBuffer(LockFlags.None);
while (indices.Position < indices.Length)
{
int index = indices.Read<int>();
if (index32)
data.Write(index);
else
data.Write((short)index);
}
mesh.UnlockVertexBuffer();
mesh.ComputeNormals();
shapes.Add(shape, mesh);
return mesh;
}