/// <summary>
/// Se crea uncuerpo rigido a partir de un TgcMesh, pero no tiene masa por lo que va a ser estatico.
/// </summary>
/// <param name="mesh">TgcMesh</param>
/// <returns>Cuerpo rigido de un Mesh</returns>
public RigidBody CreateRigidBodyFromTgcMesh(TgcMesh mesh)
{
var vertexCoords = mesh.getVertexPositions();
TriangleMesh triangleMesh = new TriangleMesh();
for (int i = 0; i < vertexCoords.Length; i = i + 3)
{
triangleMesh.AddTriangle(vertexCoords[i].ToBulletVector3(), vertexCoords[i + 1].ToBulletVector3(), vertexCoords[i + 2].ToBulletVector3());
}
var transformationMatrix = TGCMatrix.RotationYawPitchRoll(0, 0, 0).ToBsMatrix;
DefaultMotionState motionState = new DefaultMotionState(transformationMatrix);
var bulletShape = new BvhTriangleMeshShape(triangleMesh, false);
var boxLocalInertia = bulletShape.CalculateLocalInertia(0);
var bodyInfo = new RigidBodyConstructionInfo(0, motionState, bulletShape, boxLocalInertia);
var rigidBody = new RigidBody(bodyInfo);
rigidBody.Friction = 0.4f;
rigidBody.RollingFriction = 1;
rigidBody.Restitution = 1f;
return(rigidBody);
}
public override void Run()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
var indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
foreach (var indexedMesh in indexVertexArray.IndexedMeshArray)
{
indexedMesh.ToString();
}
AddToDisposeQueue(indexVertexArray);
var gImpactMesh = new GImpactMeshShape(indexVertexArray);
Vector3 aabbMin, aabbMax;
gImpactMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, gImpactMesh, Vector3.Zero);
AddToDisposeQueue(gImpactMesh);
gImpactMesh = null;
var triangleMesh = new BvhTriangleMeshShape(indexVertexArray, true);
triangleMesh.CalculateLocalInertia(1.0f);
triangleMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, triangleMesh, Vector3.Zero);
AddToDisposeQueue(triangleMesh);
triangleMesh = null;
indexVertexArray = null;
AddToDisposeQueue(conf);
AddToDisposeQueue(dispatcher);
AddToDisposeQueue(broadphase);
AddToDisposeQueue(world);
//conf.Dispose();
conf = null;
//dispatcher.Dispose();
dispatcher = null;
//broadphase.Dispose();
broadphase = null;
for (int i = 0; i < 600; i++)
{
world.StepSimulation(1.0f / 60.0f);
}
world.Dispose();
world = null;
ForceGC();
TestWeakRefs();
ClearRefs();
}
private RigidBody construirRigidBodyDeTriangleMeshShape(BvhTriangleMeshShape triangleMeshShape)
{
var transformationMatrix = TGCMatrix.RotationYawPitchRoll(0, 0, 0).ToBsMatrix;
DefaultMotionState motionState = new DefaultMotionState(transformationMatrix);
var boxLocalInertia = triangleMeshShape.CalculateLocalInertia(0);
var bodyInfo = new RigidBodyConstructionInfo(0, motionState, triangleMeshShape, boxLocalInertia);
var rigidBody = new RigidBody(bodyInfo);
rigidBody.Friction = 0.4f;
rigidBody.RollingFriction = 1;
rigidBody.Restitution = 1f;
return(rigidBody);
}
public void SetScene(OpenTK.Mathematics.Vector3[] mesh, int[] indexes, OpenTK.Mathematics.Matrix4 startTransform)
{
//convert openTK to BulentSharp
var meshP = new Vector3[mesh.Length];
for (int i = 0; i < mesh.Length; i++)
{
meshP[i] = mesh[i].Convert();
}
TriangleIndexVertexArray triangles = new TriangleIndexVertexArray(indexes, meshP);
CollisionShape shape = new BvhTriangleMeshShape(triangles, true);
shape.CalculateLocalInertia(0);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(0, new DefaultMotionState(startTransform.Convert()), shape, Vector3.Zero);
RigidBody Body = new RigidBody(rbInfo);
Body.CollisionFlags = CollisionFlags.StaticObject;
Body.UserObject = "Ground";
Body.UserIndex = 10;
World.AddRigidBody(Body, CollisionFilterGroups.StaticFilter, CollisionFilterGroups.CharacterFilter);
/*
* const float staticMass = 0;
* RigidBody body;
* CollisionShape shape = new TriangleMesh()
* Matrix groundTransform = Matrix.Translation(0, -0.5f, 0);
* using (var rbInfo = new RigidBodyConstructionInfo(staticMass, null, shape)
* {
* StartWorldTransform = groundTransform,
* })
* {
* body = new RigidBody(rbInfo);
* }
* World.AddRigidBody(body, CollisionFilterGroups.StaticFilter, CollisionFilterGroups.AllFilter);
*/
}