void UpdateSweepHullGeometry(Vector3[] shapeLocalVertices)
{
var target = ConvexSweepTarget.Value;
var tr = Transform.Value;
var from = tr.ToMatrix4(true, true, false);
var to = target.Transform.Value.ToMatrix4(true, false, false);
var hullPositions = new Vector3[shapeLocalVertices.Length * 2];
for (int i = 0; i < shapeLocalVertices.Length; i++)
{
Matrix4.Multiply(ref from, ref shapeLocalVertices[i], out hullPositions[i]);
Matrix4.Multiply(ref to, ref shapeLocalVertices[i], out hullPositions[i + shapeLocalVertices.Length]);
}
ConvexHullAlgorithm.Create(hullPositions, out hullVertices, out hullIndices, out hullPlanes);
//ConvexHullAlgorithm.Create( hullPositions, out hullVertices, out hullIndices );
////Bullet's implementation makes additional margin
////BulletUtils.GetHullVertices( hullPositions, out hullVertices, out hullIndices );
//hullPlanes = new Plane[ hullIndices.Length / 3 ];
//for( int i = 0; i < hullIndices.Length; i += 3 )
//{
// var v0 = hullVertices[ hullIndices[ i ] ];
// var v1 = hullVertices[ hullIndices[ i + 1 ] ];
// var v2 = hullVertices[ hullIndices[ i + 2 ] ];
// hullPlanes[ i / 3 ] = Plane.FromPoints( v0, v1, v2 );
//}
}
private void Start()
{
Vector3[] vertices = new Vector3[pointsParent.childCount];
List <int> indices = new List <int>();
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = pointsParent.GetChild(i).position;
indices.Add(i);
}
Plane plane = new Plane(Vector3.back, 0);
ConvexHullAlgorithm.Execute(ref indices, vertices, plane.normal);
indices.Reverse();//反转列表，逆时针变顺时针
/*Vector3[] vertices2=new Vector3[indices.Count];
* for(int i=0;i<indices.Count;i++){
* Vector3 vertex=vertices[indices[i]];
* vertex.z=0;
* vertices2[i]=vertex;
* }
* indices=TriangulationAlgorithm.WidelyTriangleIndex(vertices2);*/
TriangulationAlgorithm.WidelyTriangleIndex(vertices, ref indices, plane);
for (int i = 0; i < indices.Count; i++)
{
int index = indices[i];
s_points.Add(vertices[index]);
}
}
/// <summary>
/// Constructor to create the initial instance of the controller singleton
/// </summary>
/// <param name="parent">Handle to a view window</param>
/// <param name="radius">Radius to draw nodes and lines at</param>
private Controller(ExampleWindow parent, int radius)
{
algorithm = null;
view = parent;
maxX = parent.ModelOutput.Width;
maxY = parent.ModelOutput.Height;
this.nodeRadius = radius;
model = new MasterModel(parent, nodeRadius);
}
private void Start()
{
Vector3[] vertices = new Vector3[pointsParent.childCount];
List <int> indices = new List <int>();
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = pointsParent.GetChild(i).position;
indices.Add(i);
}
Plane plane = new Plane(Vector3.back, 0);
ConvexHullAlgorithm.Execute(ref indices, vertices, plane.normal);
for (int i = 0; i < indices.Count; i++)
{
s_points.Add(vertices[indices[i]]);
}
}
/// <summary>
/// Sets which algorithm to use and sets up model if nodes exist
/// </summary>
/// <param name="selection">The algorithm to use</param>
public void SetAlgorithm(AlgorithmEnum selection)
{
switch (selection)
{
case AlgorithmEnum.BruteForce:
algorithm = new BruteForce();
break;
case AlgorithmEnum.GrahamScan:
algorithm = new GrahamScan();
break;
default:
throw new NotImplementedException("There is no algorithm that matches that selection");
}
if (model.GetNodeList().Count > 0)
{
ScaleStepTrackBar();
}
}
protected internal override CollisionShape CreateShape()
{
var epsilon = 0.0001f;
//clear data
processedVertices = null;
processedIndices = null;
processedTrianglesToSourceIndex = null;
//get source geometry
if (!GetSourceData(out var sourceVertices, out var sourceIndices))
{
return(null);
}
//check valid data
if (CheckValidData)
{
if (!MathAlgorithms.CheckValidVertexIndexBuffer(sourceVertices.Length, sourceIndices, false))
{
Log.Info("Component_CollisionShape_Mesh: CreateShape: Invalid source data.");
return(null);
}
}
//process geometry
if (MergeEqualVerticesRemoveInvalidTriangles)
{
//!!!!slowly. later use cached precalculated bullet shape.
MathAlgorithms.MergeEqualVerticesRemoveInvalidTriangles(sourceVertices, sourceIndices, epsilon, out processedVertices, out processedIndices, out processedTrianglesToSourceIndex);
}
else
{
processedVertices = sourceVertices;
processedIndices = sourceIndices;
}
//create bullet shape
if (ShapeType.Value == ShapeTypeEnum.Auto && ParentRigidBody.MotionType.Value == Component_RigidBody.MotionTypeEnum.Dynamic && MathAlgorithms.IsMeshConvex(processedVertices, processedIndices, epsilon) || ShapeType.Value == ShapeTypeEnum.Convex)
{
if (MathAlgorithms.IsPlaneMesh(processedVertices, processedIndices, epsilon))
{
Log.Info("Component_CollisionShape_Mesh: CreateShape: Unable to create shape as convex hull. All vertices on the one plane.");
return(null);
}
//!!!!тут иначе? возможно лучше получить результирующие processed данные из буллета. как получить processedTrianglesToSourceIndex - это вопрос. возможно ли?
//если нельзя то processedTrianglesToSourceIndex = new int[ 0 ]; - что означает нельзя сконвертировать.
//если processedTrianglesToSourceIndex == null, то конвертация 1:1.
try
{
ConvexHullAlgorithm.Create(processedVertices.ToVector3Array(), processedIndices, out var processedVertices2, out processedIndices);
processedVertices = processedVertices2.ToVector3FArray();
//var convex = ConvexHullAlgorithm.Create( processedVertices, processedIndices );
//var vlist = new List<Vec3F>( convex.Faces.Length * 3 );
//foreach( var f in convex.Faces )
// for( int v = 0; v < f.Vertices.Length; v++ )
// vlist.Add( f.Vertices[ v ].ToVec3F() );
//processedVertices = vlist.ToArray();
//processedIndices = null;
//BulletUtils.GetHullVertices( processedVertices.ToVec3Array(), processedIndices, out var processedVertices2, out processedIndices );
//processedVertices = processedVertices2.ToVec3FArray();
//BulletUtils.GetHullVertices( processedVertices, processedIndices, out processedVertices, out processedIndices );
//если нельзя то processedTrianglesToSourceIndex = new int[ 0 ]; - что означает нельзя сконвертировать.
processedTrianglesToSourceIndex = Array.Empty <int>();
}
catch (Exception e)
{
Log.Info("Component_CollisionShape_Mesh: CreateShape: Unable to create shape as convex hull. " + e.Message);
return(null);
}
//!!!!
var processedVerticesBullet = BulletPhysicsUtility.Convert(processedVertices);
return(new ConvexHullShape(processedVerticesBullet));
}
else
{
//!!!проверки на ошибки данных
//!!!!can create without making of Vector3[] array. IntPtr constructor? internally the memory will copied?
indexVertexArrays = new TriangleIndexVertexArray(processedIndices, BulletPhysicsUtility.Convert(processedVertices));
//indexVertexArrays = new TriangleIndexVertexArray();
//var indexedMesh = new IndexedMesh();
//indexedMesh.Allocate( totalTriangles, totalVerts, triangleIndexStride, vertexStride );
//indexedMesh SetData( ICollection<int> triangles, ICollection<Vector3> vertices );
//indexVertexArrays.AddIndexedMesh( indexedMesh );
//!!!!расшаривать данные которые тут. одинаковые в разных объектах
//!!!!определять когда не считать кеш
//It is better to use "useQuantizedAabbCompression=true", because it makes the tree data structure 4 times smaller: sizeof( btOptimizedBvhNode ) = 64 and sizeof( btQuantizedBvhNode ) = 16 bytes.Note that the number of AABB tree nodes is twice the number of triangles.
//Instead of creating the tree on the XBox 360 console, it is better to deserialize it directly from disk to memory. See btOptimizedBvh::deSerializeInPlace in Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
//без useQuantizedAabbCompression в три раза быстрее создается
//!!!!enable when cache support
bool useQuantizedAabbCompression = false;
//bool useQuantizedAabbCompression = true;
bool buildBvh = true;
//!!!!в другом конструкторе можно еще указать какие-то bound min max
//public BvhTriangleMeshShape( StridingMeshInterface meshInterface, bool useQuantizedAabbCompression, Vector3 bvhAabbMin, Vector3 bvhAabbMax, bool buildBvh = true );
return(new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression, buildBvh));
}
}
//!!!!подобное для Brush режима
//public delegate void CalculateCreateObjectPositionUnderCursorEventDelegate( Component_ObjectInSpace objectInSpace, ref bool found, ref Vector3 position );
//public static event CalculateCreateObjectPositionUnderCursorEventDelegate CalculateCreateObjectPositionUnderCursorEvent;
//public class CalculateCreateObjectPositionByRayResult
//{
// public bool Found;
// public Vector3 Position;
// public Component_ObjectInSpace CollidedWith;
// public Vector3F Normal;
//}
public static (bool found, Vector3 position, Component_ObjectInSpace collidedWith) CalculateCreateObjectPositionByRay(Component_Scene scene, Component_ObjectInSpace objectInSpace, Ray ray, bool allowSnap)
{
//var viewport = ViewportControl.Viewport;
//Vector2 mouse;
//if( overrideMouse.HasValue )
// mouse = overrideMouse.Value;
//else
//{
// mouse = viewport.MousePosition;
// if( !new Rectangle( 0, 0, 1, 1 ).Contains( mouse ) )
// mouse = new Vector2( 0.5, 0.5 );
//}
//Ray ray;
//if( overrideRay.HasValue )
// ray = overrideRay.Value;
//else
// ray = viewport.CameraSettings.GetRayByScreenCoordinates( mouse );
//!!!!? clamp max distance
//ray.Direction = ray.Direction.GetNormalize() * 100;
//!!!!можно конвекс форму делать вместо бокса
Bounds localBounds = new Bounds();
if (objectInSpace != null)
{
//particle system specific
if (!(objectInSpace is Component_ParticleSystemInSpace))
{
localBounds = objectInSpace.SpaceBounds.CalculatedBoundingBox - objectInSpace.Transform.Value.Position;
}
}
if (localBounds.GetSize().X < 0.001)
{
localBounds.Expand(new Vector3(0.001, 0, 0));
}
if (localBounds.GetSize().Y < 0.001)
{
localBounds.Expand(new Vector3(0, 0.001, 0));
}
if (localBounds.GetSize().Z < 0.001)
{
localBounds.Expand(new Vector3(0, 0, 0.001));
}
double resultMinScale = 1.01;
Component_ObjectInSpace resultMinScaleCollidedWith = null;
if (objectInSpace != null)
{
//when objectInSpace != null
Plane[] planes;
{
var b1 = localBounds + ray.Origin;
var b2 = b1 + ray.Direction;
var points = CollectionUtility.Merge(b1.ToPoints(), b2.ToPoints());
ConvexHullAlgorithm.Create(points, out planes);
}
var item = new Component_Scene.GetObjectsInSpaceItem(Component_Scene.GetObjectsInSpaceItem.CastTypeEnum.All, null, true, planes);
scene.GetObjectsInSpace(item);
foreach (var resultItem in item.Result)
{
if (objectInSpace != resultItem.Object && !resultItem.Object.GetAllParents(false).Contains(objectInSpace))
{
//mesh in space
if (resultItem.Object is Component_MeshInSpace meshInSpace)
{
Vector3[] verticesFull;
int[] indices;
{
var b1 = localBounds + ray.Origin;
var b2 = b1 + ray.Direction;
var points = CollectionUtility.Merge(b1.ToPoints(), b2.ToPoints());
ConvexHullAlgorithm.Create(points, out verticesFull, out indices);
}
if (meshInSpace._Intersects(verticesFull, indices))
{
double minScale = 1.01;
double currentScale = 0.5;
//!!!!?
const double threshold = 0.00001;
double step = 0.25;
while (step > threshold)
{
Vector3[] vertices = new Vector3[verticesFull.Length];
for (int n = 0; n < vertices.Length; n++)
{
vertices[n] = verticesFull[n] - ray.Direction + ray.Direction * currentScale;
}
//Vector3[] vertices;
//int[] indices;
//{
// var b1 = localBounds + ray.Origin;
// var b2 = b1 + ray.Direction * currentScale;
// var points = CollectionUtility.Merge( b1.ToPoints(), b2.ToPoints() );
// ConvexHullAlgorithm.Create( points, out vertices, out indices );
//}
bool intersects = meshInSpace._Intersects(vertices, indices);
if (!intersects)
{
minScale = currentScale;
}
if (intersects)
{
currentScale -= step;
}
else
{
currentScale += step;
}
step /= 2;
}
if (minScale <= 1 && minScale < resultMinScale)
{
resultMinScale = minScale;
resultMinScaleCollidedWith = meshInSpace;
}
}
}
//!!!!какие еще
}
}
}
else
{
//when objectInSpace == null
var item = new Component_Scene.GetObjectsInSpaceItem(Component_Scene.GetObjectsInSpaceItem.CastTypeEnum.All, null, true, ray);
scene.GetObjectsInSpace(item);
foreach (var resultItem in item.Result)
{
//mesh in space
if (resultItem.Object is Component_MeshInSpace meshInSpace)
{
if (meshInSpace.RayCast(ray, Component_Mesh.CompiledData.RayCastMode.Auto, out var scale, out var triangleIndex))
{
if (scale <= 1 && scale < resultMinScale)
{
resultMinScale = scale;
resultMinScaleCollidedWith = meshInSpace;
//if( triangleIndex != -1 )
//{
//}
}
}
}
//!!!!какие еще
}
}
bool found;
Vector3 pos;
if (resultMinScale <= 1)
{
found = true;
pos = ray.GetPointOnRay(resultMinScale);
}
else
{
found = false;
pos = ray.Origin + ray.Direction.GetNormalize() * Math.Max(localBounds.GetBoundingSphere().Radius, 1) * 20;
}
//snap for 2D mode
if (scene.Mode.Value == Component_Scene.ModeEnum._2D)
{
pos.Z = Math.Ceiling(pos.Z);
}
//snap
if (allowSnap)
{
double snap;
//if( Form.ModifierKeys.HasFlag( Keys.Control ) )
snap = ProjectSettings.Get.SceneEditorStepMovement;
//else
// snap = 0;
if (snap != 0)
{
Vector3 snapVec = new Vector3(snap, snap, snap);
pos += snapVec / 2;
pos /= snapVec;
pos = new Vector3I((int)pos.X, (int)pos.Y, (int)pos.Z).ToVector3();
pos *= snapVec;
}
}
//CalculateCreateObjectPositionUnderCursorEvent?.Invoke( objectInSpace, ref found, ref pos );
return(found, pos, resultMinScaleCollidedWith);
//objectToTransform.Transform = new Transform( pos, objectToTransform.Transform.Value.Rotation, objectToTransform.Transform.Value.Scale );
//}
//else
//{
// var localBounds = objectInSpace.SpaceBounds.CalculatedBoundingBox - objectInSpace.Transform.Value.Position;
// //disable object to disable collisions
// var disable = ContainsPhysicsBodies( objectInSpace );
// if( disable )
// objectInSpace.Enabled = false;
// //!!!!contact group
// PhysicsConvexSweepTestItem castItem = new PhysicsConvexSweepTestItem( Matrix4.FromTranslate( ray.Origin ),
// Matrix4.FromTranslate( ray.Origin + ray.Direction ), 1, -1, PhysicsConvexSweepTestItem.ModeEnum.OneClosest, localBounds );
// Scene.PhysicsConvexSweepTest( new PhysicsConvexSweepTestItem[] { castItem } );
// //restore disabled object
// if( disable )
// objectInSpace.Enabled = true;
// Vector3 pos;
// if( castItem.Result.Length != 0 )
// pos = castItem.Result[ 0 ].Position;
// else
// {
// pos = ray.Origin + ray.Direction.GetNormalize() * Math.Max( localBounds.GetBoundingSphere().Radius, 1 ) * 20;
// }
// objectInSpace.Transform = new Transform( pos, objectInSpace.Transform.Value.Rotation, objectInSpace.Transform.Value.Scale );
//}
}
