public static DebugInfo GetDebugInfo(BEPUphysics.Entities.Entity DisplayedObject, Color color)
{
var wrappedShape = DisplayedObject.CollisionInformation.Shape as WrappedShape;
if (wrappedShape == null)
throw new ArgumentException("Wrong shape type");
var points = new List<Vector3>();
Vector3 max;
var direction = new Vector3();
float angleChange = MathHelper.TwoPi / NumSamples;
for (int i = 1; i < NumSamples / 2 - 1; i++)
{
float phi = MathHelper.PiOver2 - i * angleChange;
var sinPhi = (float)Math.Sin(phi);
var cosPhi = (float)Math.Cos(phi);
for (int j = 0; j < NumSamples; j++)
{
float theta = j * angleChange;
direction.X = (float)Math.Cos(theta) * cosPhi;
direction.Y = sinPhi;
direction.Z = (float)Math.Sin(theta) * cosPhi;
wrappedShape.GetLocalExtremePoint(direction, out max);
points.Add(max);
}
}
List<VertexPositionColor> vertices = new List<VertexPositionColor>();
List<short> indices = new List<short>();
wrappedShape.GetLocalExtremePoint(Toolbox.UpVector, out max);
points.Add(max);
wrappedShape.GetLocalExtremePoint(Toolbox.DownVector, out max);
points.Add(max);
var hullTriangleVertices = new List<Vector3>();
var hullTriangleIndices = new List<int>();
Toolbox.GetConvexHull(points, hullTriangleIndices, hullTriangleVertices);
//The hull triangle vertices are used as a dummy to get the unnecessary hull vertices, which are cleared afterwards.
hullTriangleVertices.Clear();
foreach (int i in hullTriangleIndices)
{
hullTriangleVertices.Add(points[i]);
}
for (short i = 0; i < hullTriangleVertices.Count; i += 3)
{
Vector3 normal = Vector3.Normalize(Vector3.Cross(hullTriangleVertices[i + 2] - hullTriangleVertices[i], hullTriangleVertices[i + 1] - hullTriangleVertices[i]));
vertices.Add(new VertexPositionColor(hullTriangleVertices[i], color));
vertices.Add(new VertexPositionColor(hullTriangleVertices[i + 1], color));
vertices.Add(new VertexPositionColor(hullTriangleVertices[i + 2], color));
indices.Add(i);
indices.Add((short)(i + 1));
indices.Add((short)(i + 2));
}
DebugInfo DebugInfo = new DebugInfo();
DebugInfo.vertices = vertices.ToArray();
DebugInfo.indices = indices.ToArray();
return DebugInfo;
}
public static DebugInfo GetDebugInfo(BEPUphysics.Entities.Entity DisplayedObject, Color color)
{
ConeShape coneShape = DisplayedObject.CollisionInformation.Shape as ConeShape;
if (coneShape == null)
throw new ArgumentException("Wrong shape type.");
float verticalOffset = -coneShape.Height / 4;
float angleBetweenFacets = MathHelper.TwoPi / NumSides;
float radius = coneShape.Radius;
//Create the vertex list
var topVertexPosition = new Vector3(0, coneShape.Height + verticalOffset, 0);
List<VertexPositionColor> vertices = new List<VertexPositionColor>();
List<short> indices = new List<short>();
for (int i = 0; i < NumSides; i++)
{
float theta = i * angleBetweenFacets;
var position = new Vector3((float)Math.Cos(theta) * radius, verticalOffset, (float)Math.Sin(theta) * radius);
Vector3 offset = topVertexPosition - position;
Vector3 normal = Vector3.Normalize(Vector3.Cross(Vector3.Cross(offset, Vector3.Up), offset));
//Top vertex
vertices.Add(new VertexPositionColor(topVertexPosition, color));
//Sloped vertices
vertices.Add(new VertexPositionColor(position, color));
//Bottom vertices
vertices.Add(new VertexPositionColor(position, color));
}
//Create the index list
for (short i = 0; i < vertices.Count; i += 3)
{
//Each iteration, the loop advances to the next vertex 'column.'
//Four triangles per column (except for the four degenerate cap triangles).
//Sloped Triangles
indices.Add(i);
indices.Add((short)(i + 1));
indices.Add((short)((i + 4) % vertices.Count));
//Bottom cap triangles.
var nextIndex = (short)((i + 5) % vertices.Count);
if (nextIndex != 2) //Don't add cap indices if it's going to be a degenerate triangle.
{
indices.Add((short)(i + 2));
indices.Add(2);
indices.Add(nextIndex);
}
}
DebugInfo DebugInfo = new DebugInfo();
DebugInfo.vertices = vertices.ToArray();
DebugInfo.indices = indices.ToArray();
return DebugInfo;
}
public static DebugInfo GetDebugInfo(BEPUphysics.Entities.Entity DisplayedObject, Color color)
{
MobileMeshShape shape = DisplayedObject.CollisionInformation.Shape as MobileMeshShape;
var tempVertices = new VertexPositionNormalTexture[shape.TriangleMesh.Data.Vertices.Length];
for (int i = 0; i < shape.TriangleMesh.Data.Vertices.Length; i++)
{
Vector3 position;
shape.TriangleMesh.Data.GetVertexPosition(i, out position);
tempVertices[i] = new VertexPositionNormalTexture(
position,
Vector3.Zero,
Vector2.Zero);
}
List<VertexPositionColor> vertices = new List<VertexPositionColor>();
List<short> indices = new List<short>();
for (int i = 0; i < shape.TriangleMesh.Data.Indices.Length; i++)
{
indices.Add((short)shape.TriangleMesh.Data.Indices[i]);
}
for (int i = 0; i < indices.Count; i += 3)
{
int a = indices[i];
int b = indices[i + 1];
int c = indices[i + 2];
Vector3 normal = Vector3.Normalize(Vector3.Cross(
tempVertices[c].Position - tempVertices[a].Position,
tempVertices[b].Position - tempVertices[a].Position));
tempVertices[a].Normal += normal;
tempVertices[b].Normal += normal;
tempVertices[c].Normal += normal;
}
for (int i = 0; i < tempVertices.Length; i++)
{
tempVertices[i].Normal.Normalize();
vertices.Add(new VertexPositionColor(tempVertices[i].Position,color));
}
DebugInfo DebugInfo = new DebugInfo();
DebugInfo.vertices = vertices.ToArray();
DebugInfo.indices = indices.ToArray();
return DebugInfo;
}
public static DebugInfo GetDebugInfo(BEPUphysics.Entities.Entity DisplayedObject, Color color)
{
var convexHullShape = DisplayedObject.CollisionInformation.Shape as ConvexHullShape;
if (convexHullShape == null)
throw new ArgumentException("Wrong shape type.");
var hullTriangleVertices = new List<Vector3>();
var hullTriangleIndices = new List<int>();
Toolbox.GetConvexHull(convexHullShape.Vertices, hullTriangleIndices, hullTriangleVertices);
//The hull triangle vertices are used as a dummy to get the unnecessary hull vertices, which are cleared afterwards.
hullTriangleVertices.Clear();
foreach (int i in hullTriangleIndices)
{
hullTriangleVertices.Add(convexHullShape.Vertices[i]);
}
List<VertexPositionColor> vertices = new List<VertexPositionColor>();
List<short> indices = new List<short>();
Vector3 normal;
for (short i = 0; i < hullTriangleVertices.Count; i += 3)
{
normal = Vector3.Normalize(Vector3.Cross(hullTriangleVertices[i + 2] - hullTriangleVertices[i], hullTriangleVertices[i + 1] - hullTriangleVertices[i]));
vertices.Add(new VertexPositionColor(hullTriangleVertices[i], color));
vertices.Add(new VertexPositionColor(hullTriangleVertices[i + 1], color));
vertices.Add(new VertexPositionColor(hullTriangleVertices[i + 2],color));
indices.Add(i);
indices.Add((short)(i + 1));
indices.Add((short)(i + 2));
}
DebugInfo DebugInfo = new DebugInfo();
DebugInfo.vertices = vertices.ToArray();
DebugInfo.indices = indices.ToArray();
return DebugInfo;
}
public static DebugInfo GetDebugInfo(BEPUphysics.Entities.Entity DisplayedObject, Color color)
{
var cylinderShape = DisplayedObject.CollisionInformation.Shape as CylinderShape;
if (cylinderShape == null)
throw new ArgumentException("Wrong shape type.");
float verticalOffset = cylinderShape.Height / 2;
float angleBetweenFacets = MathHelper.TwoPi / NumSides;
float radius = cylinderShape.Radius;
List<VertexPositionColor> vertices = new List<VertexPositionColor>();
List<short> indices = new List<short>();
//Create the vertex list
for (int i = 0; i < NumSides; i++)
{
float theta = i * angleBetweenFacets;
float x = (float)Math.Cos(theta) * radius;
float z = (float)Math.Sin(theta) * radius;
//Top cap
vertices.Add(new VertexPositionColor(new Vector3(x, verticalOffset, z), color));
//Top part of body
vertices.Add(new VertexPositionColor(new Vector3(x, verticalOffset, z), color));
//Bottom part of body
vertices.Add(new VertexPositionColor(new Vector3(x, -verticalOffset, z), color));
//Bottom cap
vertices.Add(new VertexPositionColor(new Vector3(x, -verticalOffset, z), color));
}
//Create the index list
//The vertices are arranged a little nonintuitively.
//0 is part of the top cap, 1 is the upper body, 2 is lower body, and 3 is bottom cap.
for (short i = 0; i < vertices.Count; i += 4)
{
//Each iteration, the loop advances to the next vertex 'column.'
//Four triangles per column (except for the four degenerate cap triangles).
//Top cap triangles
var nextIndex = (short)((i + 4) % vertices.Count);
if (nextIndex != 0) //Don't add cap indices if it's going to be a degenerate triangle.
{
indices.Add(i);
indices.Add(nextIndex);
indices.Add(0);
}
//Body triangles
nextIndex = (short)((i + 5) % vertices.Count);
indices.Add((short)(i + 1));
indices.Add((short)(i + 2));
indices.Add(nextIndex);
indices.Add(nextIndex);
indices.Add((short)(i + 2));
indices.Add((short)((i + 6) % vertices.Count));
//Bottom cap triangles.
nextIndex = (short)((i + 7) % vertices.Count);
if (nextIndex != 3) //Don't add cap indices if it's going to be a degenerate triangle.
{
indices.Add((short)(i + 3));
indices.Add(3);
indices.Add(nextIndex);
}
}
DebugInfo DebugInfo = new DebugInfo();
DebugInfo.vertices = vertices.ToArray();
DebugInfo.indices = indices.ToArray();
return DebugInfo;
}
public static DebugInfo GetDebugInfo(BEPUphysics.Entities.Entity DisplayedObject, Color color)
{
var capsuleShape = DisplayedObject.CollisionInformation.Shape as CapsuleShape;
if (capsuleShape == null)
throw new ArgumentException("Wrong shape type.");
var n = new Vector3();
var offset = new Vector3(0, capsuleShape.Length / 2, 0);
float angleBetweenFacets = MathHelper.TwoPi / NumSides;
float radius = capsuleShape.Radius;
//Create the vertex list
//Top
List<VertexPositionColor> vertices = new List<VertexPositionColor>();
List<short> indices = new List<short>();
vertices.Add(new VertexPositionColor(new Vector3(0, radius + capsuleShape.Length / 2, 0),color));
//Upper hemisphere
for (int i = 1; i <= NumSides / 4; i++)
{
float phi = MathHelper.PiOver2 - i * angleBetweenFacets;
var sinPhi = (float)Math.Sin(phi);
var cosPhi = (float)Math.Cos(phi);
for (int j = 0; j < NumSides; j++)
{
float theta = j * angleBetweenFacets;
n.X = (float)Math.Cos(theta) * cosPhi;
n.Y = sinPhi;
n.Z = (float)Math.Sin(theta) * cosPhi;
vertices.Add(new VertexPositionColor(n * radius + offset, color));
}
}
//Lower hemisphere
for (int i = NumSides / 4; i < NumSides / 2; i++)
{
float phi = MathHelper.PiOver2 - i * angleBetweenFacets;
var sinPhi = (float)Math.Sin(phi);
var cosPhi = (float)Math.Cos(phi);
for (int j = 0; j < NumSides; j++)
{
float theta = j * angleBetweenFacets;
n.X = (float)Math.Cos(theta) * cosPhi;
n.Y = sinPhi;
n.Z = (float)Math.Sin(theta) * cosPhi;
vertices.Add(new VertexPositionColor(n * radius - offset, color));
}
}
//Bottom
vertices.Add(new VertexPositionColor(new Vector3(0, -radius - capsuleShape.Length / 2, 0), color));
//Create the index list
for (int i = 0; i < NumSides; i++)
{
indices.Add((short)(vertices.Count - 1));
indices.Add((short)(vertices.Count - 2 - i));
indices.Add((short)(vertices.Count - 2 - (i + 1) % NumSides));
}
for (int i = 0; i < NumSides / 2 - 1; i++)
{
for (int j = 0; j < NumSides; j++)
{
int nextColumn = (j + 1) % NumSides;
indices.Add((short)(i * NumSides + nextColumn + 1));
indices.Add((short)(i * NumSides + j + 1));
indices.Add((short)((i + 1) * NumSides + j + 1));
indices.Add((short)((i + 1) * NumSides + nextColumn + 1));
indices.Add((short)(i * NumSides + nextColumn + 1));
indices.Add((short)((i + 1) * NumSides + j + 1));
}
}
for (int i = 0; i < NumSides; i++)
{
indices.Add(0);
indices.Add((short)(i + 1));
indices.Add((short)((i + 1) % NumSides + 1));
}
DebugInfo DebugInfo = new DebugInfo();
DebugInfo.vertices = vertices.ToArray();
DebugInfo.indices = indices.ToArray();
return DebugInfo;
}
public static DebugInfo GetDebugInfo(BEPUphysics.Entities.Entity DisplayedObject, Color color)
{
var boxShape = DisplayedObject.CollisionInformation.Shape as BoxShape;
var boundingBox = new BoundingBox(
new Vector3(-boxShape.HalfWidth,
-boxShape.HalfHeight,
-boxShape.HalfLength),
new Vector3(boxShape.HalfWidth,
boxShape.HalfHeight,
boxShape.HalfLength));
Vector3[] corners = boundingBox.GetCorners();
List<VertexPositionColor> vertices = new List<VertexPositionColor>();
List<short> indices = new List<short>();
vertices.Add(new VertexPositionColor(corners[0], color));
vertices.Add(new VertexPositionColor(corners[1], color));
vertices.Add(new VertexPositionColor(corners[2], color));
vertices.Add(new VertexPositionColor(corners[3], color));
indices.Add(0);
indices.Add(1);
indices.Add(2);
indices.Add(0);
indices.Add(2);
indices.Add(3);
vertices.Add(new VertexPositionColor(corners[1], color));
vertices.Add(new VertexPositionColor(corners[2], color));
vertices.Add(new VertexPositionColor(corners[5], color));
vertices.Add(new VertexPositionColor(corners[6], color));
indices.Add(4);
indices.Add(6);
indices.Add(7);
indices.Add(4);
indices.Add(7);
indices.Add(5);
vertices.Add(new VertexPositionColor(corners[4], color));
vertices.Add(new VertexPositionColor(corners[5], color));
vertices.Add(new VertexPositionColor(corners[6], color));
vertices.Add(new VertexPositionColor(corners[7], color));
indices.Add(9);
indices.Add(8);
indices.Add(11);
indices.Add(9);
indices.Add(11);
indices.Add(10);
vertices.Add(new VertexPositionColor(corners[0], color));
vertices.Add(new VertexPositionColor(corners[3], color));
vertices.Add(new VertexPositionColor(corners[4], color));
vertices.Add(new VertexPositionColor(corners[7], color));
indices.Add(14);
indices.Add(12);
indices.Add(13);
indices.Add(14);
indices.Add(13);
indices.Add(15);
vertices.Add(new VertexPositionColor(corners[0], color));
vertices.Add(new VertexPositionColor(corners[1], color));
vertices.Add(new VertexPositionColor(corners[4], color));
vertices.Add(new VertexPositionColor(corners[5], color));
indices.Add(16);
indices.Add(19);
indices.Add(17);
indices.Add(16);
indices.Add(18);
indices.Add(19);
vertices.Add(new VertexPositionColor(corners[2], color));
vertices.Add(new VertexPositionColor(corners[3], color));
vertices.Add(new VertexPositionColor(corners[6], color));
vertices.Add(new VertexPositionColor(corners[7], color));
indices.Add(21);
indices.Add(20);
indices.Add(22);
indices.Add(21);
indices.Add(22);
indices.Add(23);
DebugInfo DebugInfo = new DebugInfo();
DebugInfo.vertices = vertices.ToArray();
DebugInfo.indices = indices.ToArray();
return DebugInfo;
}
