// Used with soft bodies
public void SetDynamicVertexBuffer(Device device, Vector3[] vectors)
{
if (VertexBuffer != null && VertexCount * 2 == vectors.Length)
{
DataBox db = device.ImmediateContext.MapSubresource(VertexBuffer, 0, MapMode.WriteDiscard, SharpDX.Direct3D11.MapFlags.None);
SharpDX.Utilities.Write(db.DataPointer, vectors, 0, vectors.Length);
device.ImmediateContext.UnmapSubresource(VertexBuffer, 0);
}
else
{
// Create new buffer
if (VertexBuffer != null)
VertexBuffer.Dispose();
BufferDescription vertexBufferDesc = new BufferDescription()
{
SizeInBytes = Vector3.SizeInBytes * vectors.Length,
Usage = ResourceUsage.Dynamic,
BindFlags = BindFlags.VertexBuffer,
CpuAccessFlags = CpuAccessFlags.Write
};
using (var data = new DataStream(vertexBufferDesc.SizeInBytes, false, true))
{
data.WriteRange(vectors);
data.Position = 0;
VertexBuffer = new Buffer(device, data, vertexBufferDesc);
}
VertexCount = vectors.Length / 2;
BufferBindings[0] = new VertexBufferBinding(VertexBuffer, 24, 0);
}
}
public void SetVertexBuffer(Device device, Vector3[] vectors)
{
BufferDescription vertexBufferDesc = new BufferDescription()
{
SizeInBytes = Vector3.SizeInBytes * vectors.Length,
Usage = ResourceUsage.Default,
BindFlags = BindFlags.VertexBuffer
};
using (var data = new DataStream(vertexBufferDesc.SizeInBytes, false, true))
{
data.WriteRange(vectors);
data.Position = 0;
VertexBuffer = new Buffer(device, data, vertexBufferDesc);
}
BufferBindings[0] = new VertexBufferBinding(VertexBuffer, 24, 0);
}
BulletSharp.RigidBody createRigidBody (BulletSharp.CollisionShape shape, UnityEngine.Transform transform, float mass)
{
Matrix4x4 unityMatrix = Matrix4x4.TRS (transform.position, transform.rotation, UnityEngine.Vector3.one);
BulletSharp.Matrix bulletMatrix = new BulletSharp.Matrix (
unityMatrix.m00, unityMatrix.m10, unityMatrix.m20, unityMatrix.m30,
unityMatrix.m01, unityMatrix.m11, unityMatrix.m21, unityMatrix.m31,
unityMatrix.m02, unityMatrix.m12, unityMatrix.m22, unityMatrix.m32,
unityMatrix.m03, unityMatrix.m13, unityMatrix.m23, unityMatrix.m33);
BulletSharp.MotionState motionState = new BulletSharp.DefaultMotionState (bulletMatrix);
BulletSharp.Vector3 inertia = new BulletSharp.Vector3 (0f, 0f, 0f);
if (!Mathf.Approximately (mass, 0f)) {
shape.CalculateLocalInertia (mass, out inertia);
}
BulletSharp.RigidBodyConstructionInfo myRigidBodyCI = new BulletSharp.RigidBodyConstructionInfo (mass, motionState, shape, inertia);
BulletSharp.RigidBody myRigidBody = new BulletSharp.RigidBody (myRigidBodyCI);
myRigidBodyCI.Dispose ();
return myRigidBody;
}
ShapeData CreateShape(CollisionShape shape)
{
ShapeData shapeData = new ShapeData();
uint[] indices;
BulletSharp.Vector3[] vertexBuffer = CreateShape(shape, out indices);
if (vertexBuffer != null)
{
shapeData.VertexCount = vertexBuffer.Length / 2;
Vector3[] vertices = new Vector3[shapeData.VertexCount];
Vector3[] normals = new Vector3[shapeData.VertexCount];
int i;
for (i = 0; i < shapeData.VertexCount; i++)
{
vertices[i] = vertexBuffer[i * 2];
normals[i] = vertexBuffer[i * 2 + 1];
}
shapeData.SetVertexBuffer(vertices);
shapeData.SetNormalBuffer(normals);
}
if (indices != null)
{
ushort[] indices_s = CompactIndexBuffer(indices);
if (indices_s != null)
{
shapeData.SetIndexBuffer(indices_s);
}
else
{
shapeData.SetIndexBuffer(indices);
}
shapeData.ElementCount = indices.Length;
}
return(shapeData);
}
void PlaneSpace1(BulletSharp.Vector3 n, out BulletSharp.Vector3 p, out BulletSharp.Vector3 q)
{
if (Math.Abs(n[2]) > (Math.Sqrt(2) / 2))
{
// choose p in y-z plane
float a = n[1] * n[1] + n[2] * n[2];
float k = 1.0f / (float)Math.Sqrt(a);
p = new BulletSharp.Vector3(0, -n[2] * k, n[1] * k);
// set q = n x p
q = BulletSharp.Vector3.Cross(n, p);
}
else
{
// choose p in x-y plane
float a = n[0] * n[0] + n[1] * n[1];
float k = 1.0f / (float)Math.Sqrt(a);
p = new BulletSharp.Vector3(-n[1] * k, n[0] * k, 0);
// set q = n x p
q = BulletSharp.Vector3.Cross(n, p);
}
}
// Used with soft bodies
public void SetDynamicVertexBuffer(Device device, Vector3[] vectors)
{
if (VertexBuffer != null && VertexCount * 2 == vectors.Length)
{
// Update existing buffer
using (var data = VertexBuffer.Map(MapMode.WriteDiscard))
{
data.WriteRange(vectors, 0, vectors.Length);
VertexBuffer.Unmap();
}
}
else
{
// Create new buffer
if (VertexBuffer != null)
VertexBuffer.Dispose();
BufferDescription vertexBufferDesc = new BufferDescription()
{
SizeInBytes = Vector3.SizeInBytes * vectors.Length,
Usage = ResourceUsage.Dynamic,
BindFlags = BindFlags.VertexBuffer,
CpuAccessFlags = CpuAccessFlags.Write
};
using (var data = new DataStream(vertexBufferDesc.SizeInBytes, false, true))
{
data.WriteRange(vectors);
data.Position = 0;
VertexBuffer = new Buffer(device, data, vertexBufferDesc);
}
VertexCount = vectors.Length / 2;
BufferBindings[0] = new VertexBufferBinding(VertexBuffer, 24, 0);
}
}
/// <summary>
/// レイキャスト
/// </summary>
/// <param name="start">開始地点（ワールド座標）</param>
/// <param name="end">終了地点（ワールド座標）</param>
/// <param name="collideWith">コリジョン対象のビット列</param>
/// <returns></returns>
public IEnumerable<RaycastResult> RayCast(Vector3 start, Vector3 end, int collideWith = -1)
{
var from = new BulletSharp.Vector3 (start.X, start.Y, start.Z);
var to = new BulletSharp.Vector3 (end.X, end.Y, end.Z);
using (var result = new CollisionWorld.AllHitsRayResultCallback (from, to)) {
result.CollisionFilterMask = (CollisionFilterGroups)collideWith;
// BulletPhysics のレイキャスト
wld.RayTest (from, to, result);
if (!result.HasHit) {
return new RaycastResult[0];
}
var n = result.HitFractions.Count ();
var results = new RaycastResult[n];
for (var i = 0; i < n; i++) {
var frac = result.HitFractions[i];
var dist = frac * (start - end).Length;
var node = ((CollisionObject)result.CollisionObjects[i].UserObject).Node;
var point = result.HitPointWorld[i].ToDD ();
var normal = result.HitNormalWorld[i].ToDD();
results[i] = new RaycastResult (frac, dist, node, point, normal);
}
return results.OrderBy (x => x.Fraction);
}
}
public void RenderSoftBody(SoftBody softBody)
{
Cull cullMode = device.GetRenderState <Cull>(RenderState.CullMode);
device.SetRenderState(RenderState.CullMode, Cull.None);
AlignedFaceArray faces = softBody.Faces;
int faceCount = faces.Count;
if (faceCount > 0)
{
PositionedNormal[] vectors = new PositionedNormal[faceCount * 6];
int v = 0;
int i;
for (i = 0; i < faceCount; i++)
{
NodePtrArray nodes = faces[i].N;
Node n0 = nodes[0];
Node n1 = nodes[1];
Node n2 = nodes[2];
n0.GetX(out vectors[v].Position);
n0.GetNormal(out vectors[v].Normal);
n1.GetX(out vectors[v + 1].Position);
n1.GetNormal(out vectors[v + 1].Normal);
n2.GetX(out vectors[v + 2].Position);
n2.GetNormal(out vectors[v + 2].Normal);
v += 3;
}
device.VertexFormat = VertexFormat.PositionNormal;
device.DrawUserPrimitives(PrimitiveType.TriangleList, faces.Count, vectors);
}
else
{
AlignedTetraArray tetras = softBody.Tetras;
int tetraCount = tetras.Count;
if (tetraCount > 0)
{
PositionedNormal[] vectors = new PositionedNormal[tetraCount * 12];
int v = 0;
for (int i = 0; i < tetraCount; i++)
{
NodePtrArray nodes = tetras[i].Nodes;
BulletSharp.Vector3 v0 = nodes[0].X;
BulletSharp.Vector3 v1 = nodes[1].X;
BulletSharp.Vector3 v2 = nodes[2].X;
BulletSharp.Vector3 v3 = nodes[3].X;
BulletSharp.Vector3 v10 = v1 - v0;
BulletSharp.Vector3 v02 = v0 - v2;
BulletSharp.Vector3 normal = BulletSharp.Vector3.Cross(v10, v02);
normal.Normalize();
vectors[v].Position = v0;
vectors[v].Normal = normal;
vectors[v + 1].Position = v1;
vectors[v + 1].Normal = normal;
vectors[v + 2].Position = v2;
vectors[v + 2].Normal = normal;
normal = BulletSharp.Vector3.Cross(v10, v3 - v0);
normal.Normalize();
vectors[v + 3].Position = v0;
vectors[v + 3].Normal = normal;
vectors[v + 4].Position = v1;
vectors[v + 4].Normal = normal;
vectors[v + 5].Position = v3;
vectors[v + 5].Normal = normal;
normal = BulletSharp.Vector3.Cross(v2 - v1, v3 - v1);
normal.Normalize();
vectors[v + 6].Position = v1;
vectors[v + 6].Normal = normal;
vectors[v + 7].Position = v2;
vectors[v + 7].Normal = normal;
vectors[v + 8].Position = v3;
vectors[v + 8].Normal = normal;
normal = BulletSharp.Vector3.Cross(v02, v3 - v2);
normal.Normalize();
vectors[v + 9].Position = v2;
vectors[v + 9].Normal = normal;
vectors[v + 10].Position = v0;
vectors[v + 10].Normal = normal;
vectors[v + 11].Position = v3;
vectors[v + 11].Normal = normal;
v += 12;
}
device.VertexFormat = VertexFormat.PositionNormal;
device.DrawUserPrimitives(PrimitiveType.TriangleList, tetraCount * 4, vectors);
}
else if (softBody.Links.Count > 0)
{
AlignedLinkArray links = softBody.Links;
int linkCount = links.Count;
int linkColor = System.Drawing.Color.Black.ToArgb();
device.VertexFormat = VertexFormat.Position | VertexFormat.Diffuse;
PositionColored[] linkArray = new PositionColored[linkCount * 2];
for (int i = 0; i < linkCount; i++)
{
Link link = links[i];
linkArray[i * 2].Position = link.Nodes[0].X;
linkArray[i * 2].Color = linkColor;
linkArray[i * 2 + 1].Position = link.Nodes[1].X;
linkArray[i * 2 + 1].Color = linkColor;
}
device.DrawUserPrimitives(PrimitiveType.LineList, links.Count, linkArray);
}
}
device.SetRenderState(RenderState.CullMode, cullMode);
}
/// <summary>
/// Converts a Bullet vector.
/// </summary>
/// <param name="vector"></param>
/// <returns></returns>
public static OpenTK.Vector3 ToOpenTK(this BulletSharp.Vector3 vector)
{
return(new OpenTK.Vector3(vector.X, vector.Y, vector.Z));
}
public static Tuple <RigidBody, int> CreateRigidBody(this IRigidBodyContainer world, CollisionShape collisionShape, ref RigidBodyPose initialPose, ref RigidBodyProperties bodyProperties, ref BulletSharp.Vector3 localInertia, float mass, string customString)
{
DefaultMotionState motionState = new DefaultMotionState((BulletSharp.Matrix)initialPose);
RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(mass, motionState, collisionShape, localInertia);
constructionInfo.ApplyRigidBodyProperties(ref bodyProperties);
RigidBody rigidBody = new RigidBody(constructionInfo);
rigidBody.CollisionFlags = CollisionFlags.None;
rigidBody.ApplyProperties(ref bodyProperties);
BodyCustomData customData = new BodyCustomData(world.GetNewRigidBodyId());
customData.Custom = customString;
rigidBody.UserObject = customData;
world.Register(rigidBody);
return(new Tuple <RigidBody, int>(rigidBody, customData.Id));
}
void PlaneSpace1(BulletSharp.Vector3 n, out BulletSharp.Vector3 p, out BulletSharp.Vector3 q)
{
if (Math.Abs(n[2]) > (Math.Sqrt(2) / 2))
{
// choose p in y-z plane
float a = n[1] * n[1] + n[2] * n[2];
float k = 1.0f / (float)Math.Sqrt(a);
p = new BulletSharp.Vector3(0, -n[2] * k, n[1] * k);
// set q = n x p
q = BulletSharp.Vector3.Cross(n, p);
}
else
{
// choose p in x-y plane
float a = n[0] * n[0] + n[1] * n[1];
float k = 1.0f / (float)Math.Sqrt(a);
p = new BulletSharp.Vector3(-n[1] * k, n[0] * k, 0);
// set q = n x p
q = BulletSharp.Vector3.Cross(n, p);
}
}
/// <summary>
/// コリジョン形状1つに対するレイキャスト
/// </summary>
/// <param name="colA">キャスト対象のコリジョン オブジェクト</param>
/// <param name="start">開始地点（ワールド座標）</param>
/// <param name="end">終了地点（ワールド座標）</param>
/// <returns>ヒットした時はその地点までの距離(0以上)の値、ヒットしなかった時は <see cref="Single.NaN"/>.</returns>
public static float RayCast(CollisionObject colA, Vector3 start, Vector3 end)
{
var from = new BulletSharp.Vector3 (start.X, start.Y, start.Z);
var to = new BulletSharp.Vector3 (end.X, end.Y, end.Z);
var result = new CollisionWorld.ClosestRayResultCallback (from, to);
colA.ghostObject.RayTest (from, to, result);
if (!result.HasHit) {
return Single.NaN;
}
return result.ClosestHitFraction * (end - start).Length;
}
