Exemple #1
0
        public void DrawXNA(ref IndexedMatrix m, CollisionShape shape, ref IndexedVector3 color, DebugDrawModes debugMode, ref IndexedVector3 worldBoundsMin, ref IndexedVector3 worldBoundsMax, ref IndexedMatrix view, ref IndexedMatrix projection)
        {
            //btglMultMatrix(m);
            if (shape == null)
            {
                return;
            }

            if (shape.GetShapeType() == BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE)
            {
                UniformScalingShape scalingShape = (UniformScalingShape)shape;
                ConvexShape         convexShape  = scalingShape.GetChildShape();
                float         scalingFactor      = scalingShape.GetUniformScalingFactor();
                IndexedMatrix scaleMatrix        = IndexedMatrix.CreateScale(scalingFactor);
                IndexedMatrix finalMatrix        = scaleMatrix * m;
                DrawXNA(ref finalMatrix, convexShape, ref color, debugMode, ref worldBoundsMin, ref worldBoundsMax, ref view, ref projection);
                return;
            }
            if (shape.GetShapeType() == BroadphaseNativeTypes.COMPOUND_SHAPE_PROXYTYPE)
            {
                CompoundShape compoundShape = (CompoundShape)shape;
                for (int i = compoundShape.GetNumChildShapes() - 1; i >= 0; i--)
                {
                    IndexedMatrix  childTrans = compoundShape.GetChildTransform(i);
                    CollisionShape colShape   = compoundShape.GetChildShape(i);
                    IndexedMatrix  childMat   = childTrans;

                    //childMat = MathUtil.bulletMatrixMultiply(m, childMat);
                    //childMat = childMat * m;
                    childMat = m * childMat;



                    DrawXNA(ref childMat, colShape, ref color, debugMode, ref worldBoundsMin, ref worldBoundsMax, ref view, ref projection);
                }
            }
            else
            {
                bool useWireframeFallback = true;

                if ((debugMode & DebugDrawModes.DBG_DrawWireframe) == 0)
                {
                    ///you can comment out any of the specific cases, and use the default
                    ///the benefit of 'default' is that it approximates the actual collision shape including collision margin
                    //BroadphaseNativeTypes shapetype = m_textureEnabled ? BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES : shape.getShapeType();
                    BroadphaseNativeTypes shapetype = shape.GetShapeType();
                    switch (shapetype)
                    {
                    case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
                    {
                        BoxShape       boxShape    = shape as BoxShape;
                        IndexedVector3 halfExtents = boxShape.GetHalfExtentsWithMargin();

                        DrawSolidCube(ref halfExtents, ref m, ref view, ref projection, ref color);
                        //drawSolidSphere(halfExtents.X, 10, 10, ref m, ref view, ref projection);
                        //drawCylinder(halfExtents.X, halfExtents.Y, 1, ref m, ref view, ref projection);
                        //drawSolidCone(halfExtents.Y, halfExtents.X, ref m, ref view, ref projection);

                        //DrawText("Hello World", new IndexedVector3(20, 20, 0), new IndexedVector3(255, 255, 255));
                        useWireframeFallback = false;
                        break;
                    }


                    case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
                    {
                        SphereShape sphereShape = shape as SphereShape;
                        float       radius      = sphereShape.GetMargin();//radius doesn't include the margin, so draw with margin
                        DrawSolidSphere(radius, 10, 10, ref m, ref view, ref projection, ref color);
                        //glutSolidSphere(radius,10,10);
                        useWireframeFallback = false;
                        break;
                    }

                    case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE:
                    {
                        CapsuleShape capsuleShape = shape as CapsuleShape;

                        float radius     = capsuleShape.GetRadius();
                        float halfHeight = capsuleShape.GetHalfHeight();

                        int upAxis = capsuleShape.GetUpAxis();

                        IndexedVector3 capStart = IndexedVector3.Zero;
                        capStart[upAxis] = -halfHeight;

                        IndexedVector3 capEnd = IndexedVector3.Zero;
                        capEnd[upAxis] = halfHeight;

                        // Draw the ends
                        {
                            IndexedMatrix childTransform = IndexedMatrix.Identity;
                            childTransform._origin = m * capStart;
                            DrawSolidSphere(radius, 5, 5, ref childTransform, ref view, ref projection, ref color);
                        }

                        {
                            IndexedMatrix childTransform = IndexedMatrix.Identity;
                            childTransform._origin = m * capEnd;
                            DrawSolidSphere(radius, 5, 5, ref childTransform, ref view, ref projection, ref color);
                        }

                        DrawCylinder(radius, halfHeight, upAxis, ref m, ref view, ref projection, ref color);
                        break;
                    }

                    case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
                    {
                        ConeShape     coneShape    = (ConeShape)(shape);
                        int           upIndex      = coneShape.GetConeUpIndex();
                        float         radius       = coneShape.GetRadius(); //+coneShape.getMargin();
                        float         height       = coneShape.GetHeight(); //+coneShape.getMargin();
                        IndexedMatrix rotateMatrix = IndexedMatrix.Identity;


                        switch (upIndex)
                        {
                        case 0:
                            rotateMatrix = IndexedMatrix.CreateRotationX(-MathUtil.SIMD_HALF_PI);
                            break;

                        case 1:
                            break;

                        case 2:
                            rotateMatrix = IndexedMatrix.CreateRotationX(MathUtil.SIMD_HALF_PI);
                            break;

                        default:
                        {
                            break;
                        }
                        }
                        ;

                        IndexedMatrix translationMatrix = IndexedMatrix.CreateTranslation(0f, 0f, -0.5f * height);

                        IndexedMatrix resultant = m * rotateMatrix * translationMatrix;

                        DrawSolidCone(height, radius, ref resultant, ref view, ref projection, ref color);
                        useWireframeFallback = false;
                        break;
                    }


                    case BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE:
                    {
                        StaticPlaneShape staticPlaneShape = shape as StaticPlaneShape;
                        float            planeConst = staticPlaneShape.GetPlaneConstant();
                        IndexedVector3   planeNormal = staticPlaneShape.GetPlaneNormal();
                        IndexedVector3   planeOrigin = planeNormal * planeConst;
                        IndexedVector3   vec0, vec1;
                        TransformUtil.PlaneSpace1(ref planeNormal, out vec0, out vec1);
                        float          vecLen = 100f;
                        IndexedVector3 pt0 = planeOrigin + vec0 * vecLen;
                        IndexedVector3 pt1 = planeOrigin - vec0 * vecLen;
                        IndexedVector3 pt2 = planeOrigin + vec1 * vecLen;
                        IndexedVector3 pt3 = planeOrigin - vec1 * vecLen;

                        // Fallback to debug draw - needs tidying
                        IndexedVector3 colour = new IndexedVector3(255, 255, 255);
                        DrawLine(ref pt0, ref pt1, ref colour);
                        DrawLine(ref pt1, ref pt2, ref colour);
                        DrawLine(ref pt2, ref pt3, ref colour);
                        DrawLine(ref pt3, ref pt1, ref colour);

                        break;
                    }

                    case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
                    {
                        CylinderShape cylinder = (CylinderShape)(shape);
                        int           upAxis   = cylinder.GetUpAxis();

                        float radius     = cylinder.GetRadius();
                        float halfHeight = cylinder.GetHalfExtentsWithMargin()[upAxis];
                        DrawCylinder(radius, halfHeight, upAxis, ref m, ref view, ref projection, ref color);
                        break;
                    }

                    default:
                    {
                        if (shape.IsConvex())
                        {
                            ShapeCache sc = Cache(shape as ConvexShape);

                            //if (shape.getUserPointer())
                            {
                                //glutSolidCube(1.0);
                                ShapeHull hull = sc.m_shapehull /*(btShapeHull*)shape.getUserPointer()*/;

                                int numTriangles = hull.NumTriangles();
                                int numIndices   = hull.NumIndices();
                                int numVertices  = hull.NumVertices();
                                if (numTriangles > 0)
                                {
                                    int                    index = 0;
                                    IList <int>            idx   = hull.m_indices;
                                    IList <IndexedVector3> vtx   = hull.m_vertices;

                                    for (int i = 0; i < numTriangles; i++)
                                    {
                                        int i1 = index++;
                                        int i2 = index++;
                                        int i3 = index++;
                                        Debug.Assert(i1 < numIndices &&
                                                     i2 < numIndices &&
                                                     i3 < numIndices);

                                        int index1 = idx[i1];
                                        int index2 = idx[i2];
                                        int index3 = idx[i3];
                                        Debug.Assert(index1 < numVertices &&
                                                     index2 < numVertices &&
                                                     index3 < numVertices);

                                        IndexedVector3 v1     = m * vtx[index1];
                                        IndexedVector3 v2     = m * vtx[index2];
                                        IndexedVector3 v3     = m * vtx[index3];
                                        IndexedVector3 normal = IndexedVector3.Cross((v3 - v1), (v2 - v1));
                                        normal.Normalize();

                                        Vector2 tex = new Vector2(0, 0);
                                        AddVertex(ref v1, ref normal, ref tex);
                                        AddVertex(ref v2, ref normal, ref tex);
                                        AddVertex(ref v3, ref normal, ref tex);
                                    }
                                }
                            }
                        }
                        break;
                    }
                    }
                }

                /// for polyhedral shapes
                if (debugMode == DebugDrawModes.DBG_DrawFeaturesText && (shape.IsPolyhedral()))
                {
                    PolyhedralConvexShape polyshape = (PolyhedralConvexShape)shape;
                    {
                        //BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape.getExtraDebugInfo());

                        IndexedVector3 colour = new IndexedVector3(255, 255, 255);
                        for (int i = 0; i < polyshape.GetNumVertices(); i++)
                        {
                            IndexedVector3 vtx;
                            polyshape.GetVertex(i, out vtx);
                            String buf = " " + i;
                            DrawText(buf, ref vtx, ref colour);
                        }

                        for (int i = 0; i < polyshape.GetNumPlanes(); i++)
                        {
                            IndexedVector3 normal;
                            IndexedVector3 vtx;
                            polyshape.GetPlane(out normal, out vtx, i);
                            float d = IndexedVector3.Dot(vtx, normal);
                            vtx *= d;

                            String buf = " plane " + i;
                            DrawText(buf, ref vtx, ref colour);
                        }
                    }
                }

                if (shape.IsConcave() && !shape.IsInfinite())    //>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape.getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
                //		if (shape.getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
                {
                    ConcaveShape concaveMesh = shape as ConcaveShape;

                    XNADrawcallback drawCallback = new XNADrawcallback(this, ref m);
                    drawCallback.m_wireframe = (debugMode & DebugDrawModes.DBG_DrawWireframe) != 0;

                    concaveMesh.ProcessAllTriangles(drawCallback, ref worldBoundsMin, ref worldBoundsMax);
                }

                //glDisable(GL_DEPTH_TEST);
                //glRasterPos3f(0,0,0);//mvtx.x(),  vtx.y(),  vtx.z());
                if ((debugMode & DebugDrawModes.DBG_DrawText) != 0)
                {
                    IndexedVector3 position = IndexedVector3.Zero;
                    IndexedVector3 colour   = new IndexedVector3(255, 255, 255);
                    DrawText(shape.GetName(), ref position, ref colour);
                }

                if ((debugMode & DebugDrawModes.DBG_DrawFeaturesText) != 0)
                {
                    //drawText(shape.getEx]
                    //BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape.getExtraDebugInfo());
                }
                //glEnable(GL_DEPTH_TEST);

                ////	glPopMatrix();
                //if(m_textureenabled) glDisable(GL_TEXTURE_2D);
                //  }
                //    glPopMatrix();
            }
        }