private CollisionShape MakeCollisionShape()
{
CollisionShape shape;
switch (Shape)
{
case Shape.Cube:
shape = new BoxShape(1, 1, 1);
break;
case Shape.Sphere:
shape = new SphereShape(1);
break;
case Shape.Cylinder:
shape = new ConeShape(1, 1);
break;
case Shape.Wedge:
var wedgeGeo = Primitives.WedgeGeometry;
shape = new ConvexTriangleMeshShape(new TriangleIndexVertexArray(wedgeGeo.Indices, wedgeGeo.Vertices.Select(v => (BulletVector3)v.Position).ToList()));
break;
default:
throw new ArgumentOutOfRangeException();
}
shape.Margin *= PhysicsSimulation.Scale;
shape.Margin = 0;
shape.LocalScaling = new BulletVector3(_size.x / 2, _size.y / 2, _size.z / 2);
return(shape);
}
public override void SetupFromMesh(Mesh mesh)
{
var triMesh = new TriangleMesh();
int i = 0;
var vertices = mesh.Vertices;
while (i < mesh.Indices.Length)
{
triMesh.AddTriangle(
vertices[mesh.Indices[i++]],
vertices[mesh.Indices[i++]],
vertices[mesh.Indices[i++]]
);
}
var tempShape = new ConvexTriangleMeshShape(triMesh);
using var tempHull = new ShapeHull(tempShape);
tempHull.BuildHull(tempShape.Margin);
collisionShape = new ConvexHullShape(tempHull.Vertices);
}
private ConvexHullShape CreateHullApproximation(TriangleMesh triangleMesh)
{
using (var tmpConvexShape = new ConvexTriangleMeshShape(triangleMesh))
{
using (var hull = new ShapeHull(tmpConvexShape))
{
hull.BuildHull(tmpConvexShape.Margin);
var convexShape = new ConvexHullShape(hull.Vertices);
if (_enableSat)
{
convexShape.InitializePolyhedralFeatures();
}
return(convexShape);
}
}
}
private static CollisionShape loadConvexHull(Mesh mesh, Vector3 scale)
{
TriangleMesh trimesh = new TriangleMesh();
// Shift vertices in so margin is not visible
Vector3 shift = Vector3.Normalize(scale) - new Vector3(0.04f);
for (int i = 0; i < mesh.submeshes[0].vertex_data.Length; i += 3)
{
int index0 = (int)mesh.submeshes[0].index_data[i];
int index1 = (int)mesh.submeshes[0].index_data[i + 1];
int index2 = (int)mesh.submeshes[0].index_data[i + 2];
Vector3 vertex0 = new Vector3(mesh.submeshes[0].vertex_data[index0].position.X, mesh.submeshes[0].vertex_data[index0].position.Y, mesh.submeshes[0].vertex_data[index0].position.Z) * (scale);
//vertex0 *= shift;
Vector3 vertex1 = new Vector3(mesh.submeshes[0].vertex_data[index1].position.X, mesh.submeshes[0].vertex_data[index1].position.Y, mesh.submeshes[0].vertex_data[index1].position.Z) * (scale);
//vertex1 *= shift;
Vector3 vertex2 = new Vector3(mesh.submeshes[0].vertex_data[index2].position.X, mesh.submeshes[0].vertex_data[index2].position.Y, mesh.submeshes[0].vertex_data[index2].position.Z) * (scale);
//vertex2 *= shift;
trimesh.AddTriangle(vertex0, vertex1, vertex2);
}
ConvexShape tmpShape = new ConvexTriangleMeshShape(trimesh);
ShapeHull hull = new ShapeHull(tmpShape);
float margin = tmpShape.Margin;
hull.BuildHull(margin);
tmpShape.UserObject = hull;
ConvexHullShape convexShape = new ConvexHullShape();
foreach (Vector3 v in hull.Vertices)
{
convexShape.AddPoint(v);
}
hull.Dispose();
tmpShape.Dispose();
return(convexShape);
}
public override CollisionShape GetCollisionShape()
{
if (collisionShapePtr == null)
{
Vector3[] verts = hullMesh.vertices;
int[] tris = hullMesh.triangles;
//todo test for convex. Make convex if not.
TriangleMesh tm = new TriangleMesh();
for (int i = 0; i < tris.Length; i += 3)
{
tm.AddTriangle(verts[tris[i]].ToBullet(),
verts[tris[i + 1]].ToBullet(),
verts[tris[i + 2]].ToBullet(),
true);
}
collisionShapePtr = new ConvexTriangleMeshShape(tm);
}
return(collisionShapePtr);
}
ConvexTriangleMeshShape _CreateConvexTriangleMeshShape()
{
Vector3[] verts = hullMesh.vertices;
int[] tris = hullMesh.triangles;
//todo test for convex. Make convex if not.
TriangleMesh tm = new TriangleMesh();
for (int i = 0; i < tris.Length; i += 3)
{
tm.AddTriangle(verts[tris[i]].ToBullet(),
verts[tris[i + 1]].ToBullet(),
verts[tris[i + 2]].ToBullet(),
true);
}
ConvexTriangleMeshShape ms = new ConvexTriangleMeshShape(tm);
ms.LocalScaling = m_localScaling.ToBullet();
return(ms);
}
private static RigidBody CreateRigidBodyFromTgcMesh(TgcMesh mesh, TGCVector3 position, float mass)
{
var vertexCoords = mesh.getVertexPositions();
TriangleMesh triangleMesh = new TriangleMesh();
for (int i = 0; i < vertexCoords.Length; i = i + 3)
{
triangleMesh.AddTriangle(vertexCoords[i].ToBsVector, vertexCoords[i + 1].ToBsVector, vertexCoords[i + 2].ToBsVector);
}
var transformationMatrix = TGCMatrix.RotationYawPitchRoll(0, 0, 0).ToBsMatrix;
transformationMatrix.Origin = position.ToBsVector;
DefaultMotionState motionState = new DefaultMotionState(transformationMatrix);
var bulletShape = new ConvexTriangleMeshShape(triangleMesh, true);
var localInertia = bulletShape.CalculateLocalInertia(mass);
var bodyInfo = new RigidBodyConstructionInfo(mass, motionState, bulletShape, localInertia);
var rigidBody = new RigidBody(bodyInfo);
return(rigidBody);
}
public RigidBody AddDynamicGeometryAccurateConvel(ColladaGeometry geometry, Matrix4 transform)
{
TriangleMesh mesh = new TriangleMesh();
foreach (Triangle tri in geometry.triangles)
{
mesh.AddTriangle(
tri.vertices[0],
tri.vertices[1],
tri.vertices[2]
);
}
CollisionShape shape = new ConvexTriangleMeshShape(mesh);
shape.UserObject = geometry;
collisionShapes.Add(shape);
RigidBody body = CreateRigidBody(geometry.triangles.Count, transform, shape);
return(body);
}
protected override void OnInitializePhysics()
{
ManifoldPoint.ContactAdded += MyContactCallback;
SetupEmptyDynamicsWorld();
WavefrontObj wo = new WavefrontObj();
int tcount = wo.LoadObj("data/file.obj");
if (tcount > 0)
{
TriangleMesh trimesh = new TriangleMesh();
trimeshes.Add(trimesh);
Vector3 localScaling = new Vector3(6, 6, 6);
List <int> indices = wo.Indices;
List <Vector3> vertices = wo.Vertices;
int i;
for (i = 0; i < tcount; i++)
{
int index0 = indices[i * 3];
int index1 = indices[i * 3 + 1];
int index2 = indices[i * 3 + 2];
Vector3 vertex0 = vertices[index0] * localScaling;
Vector3 vertex1 = vertices[index1] * localScaling;
Vector3 vertex2 = vertices[index2] * localScaling;
trimesh.AddTriangle(vertex0, vertex1, vertex2);
}
ConvexShape tmpConvexShape = new ConvexTriangleMeshShape(trimesh);
//create a hull approximation
ShapeHull hull = new ShapeHull(tmpConvexShape);
float margin = tmpConvexShape.Margin;
hull.BuildHull(margin);
tmpConvexShape.UserObject = hull;
ConvexHullShape convexShape = new ConvexHullShape();
foreach (Vector3 v in hull.Vertices)
{
convexShape.AddPoint(v);
}
if (sEnableSAT)
{
convexShape.InitializePolyhedralFeatures();
}
tmpConvexShape.Dispose();
//hull.Dispose();
CollisionShapes.Add(convexShape);
float mass = 1.0f;
LocalCreateRigidBody(mass, Matrix.Translation(0, 2, 14), convexShape);
const bool useQuantization = true;
CollisionShape concaveShape = new BvhTriangleMeshShape(trimesh, useQuantization);
LocalCreateRigidBody(0, Matrix.Translation(convexDecompositionObjectOffset), concaveShape);
CollisionShapes.Add(concaveShape);
// Bullet Convex Decomposition
FileStream outputFile = new FileStream("file_convex.obj", FileMode.Create, FileAccess.Write);
StreamWriter writer = new StreamWriter(outputFile);
DecompDesc desc = new DecompDesc
{
mVertices = wo.Vertices.ToArray(),
mTcount = tcount,
mIndices = wo.Indices.ToArray(),
mDepth = 5,
mCpercent = 5,
mPpercent = 15,
mMaxVertices = 16,
mSkinWidth = 0.0f
};
MyConvexDecomposition convexDecomposition = new MyConvexDecomposition(writer, this);
desc.mCallback = convexDecomposition;
// HACD
Hacd myHACD = new Hacd();
myHACD.SetPoints(wo.Vertices);
myHACD.SetTriangles(wo.Indices);
myHACD.CompacityWeight = 0.1;
myHACD.VolumeWeight = 0.0;
// HACD parameters
// Recommended parameters: 2 100 0 0 0 0
int nClusters = 2;
const double concavity = 100;
//bool invert = false;
const bool addExtraDistPoints = false;
const bool addNeighboursDistPoints = false;
const bool addFacesPoints = false;
myHACD.NClusters = nClusters; // minimum number of clusters
myHACD.VerticesPerConvexHull = 100; // max of 100 vertices per convex-hull
myHACD.Concavity = concavity; // maximum concavity
myHACD.AddExtraDistPoints = addExtraDistPoints;
myHACD.AddNeighboursDistPoints = addNeighboursDistPoints;
myHACD.AddFacesPoints = addFacesPoints;
myHACD.Compute();
nClusters = myHACD.NClusters;
myHACD.Save("output.wrl", false);
if (true)
{
CompoundShape compound = new CompoundShape();
CollisionShapes.Add(compound);
Matrix trans = Matrix.Identity;
for (int c = 0; c < nClusters; c++)
{
//generate convex result
Vector3[] points;
int[] triangles;
myHACD.GetCH(c, out points, out triangles);
ConvexResult r = new ConvexResult(points, triangles);
convexDecomposition.ConvexDecompResult(r);
}
for (i = 0; i < convexDecomposition.convexShapes.Count; i++)
{
Vector3 centroid = convexDecomposition.convexCentroids[i];
trans = Matrix.Translation(centroid);
ConvexHullShape convexShape2 = convexDecomposition.convexShapes[i] as ConvexHullShape;
compound.AddChildShape(trans, convexShape2);
RigidBody body = LocalCreateRigidBody(1.0f, trans, convexShape2);
}
#if true
mass = 10.0f;
trans = Matrix.Translation(-convexDecompositionObjectOffset);
RigidBody body2 = LocalCreateRigidBody(mass, trans, compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = 6;
trans = Matrix.Translation(-convexDecompositionObjectOffset);
body2 = LocalCreateRigidBody(mass, trans, compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = -6;
trans = Matrix.Translation(-convexDecompositionObjectOffset);
body2 = LocalCreateRigidBody(mass, trans, compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
#endif
}
writer.Dispose();
outputFile.Dispose();
}
}
private void CreateMesh(string filePath)
{
Bodies = new List <RigidBody>();
VisualMeshes = new List <Mesh>();
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(filePath);
foreach (FieldNode node in NodeGroup.EnumerateAllLeafFieldNodes())
{
if (!GetPropertySets().ContainsKey(node.PropertySetID))
{
return;
}
PropertySet current = GetPropertySets()[node.PropertySetID];
CollisionShape subShape = null;
switch (current.Collider.CollisionType)
{
case PropertySet.PropertySetCollider.PropertySetCollisionType.BOX:
{
//Create a box shape
//This is a mess, though I was told that this is how it works
Vector3[] vertices = MeshUtilities.DataToVector(mesh.meshes[node.SubMeshID].verts);
StridingMeshInterface temp = MeshUtilities.BulletShapeFromSubMesh(mesh.meshes[node.SubMeshID]);
Vector3 min, max;
temp.CalculateAabbBruteForce(out min, out max);
PropertySet.BoxCollider colliderInfo = (PropertySet.BoxCollider)current.Collider;
subShape = new BoxShape((max - min) * colliderInfo.Scale.Convert() * 0.5f);
if (debug)
{
Console.WriteLine("Created Box");
}
break;
}
case PropertySet.PropertySetCollider.PropertySetCollisionType.SPHERE:
{
//Create a sphere shape
PropertySet.SphereCollider colliderInfo = (PropertySet.SphereCollider)current.Collider;
subShape = new SphereShape(colliderInfo.Scale);
if (debug)
{
Console.WriteLine("Created Sphere");
}
break;
}
case PropertySet.PropertySetCollider.PropertySetCollisionType.MESH:
{
//Create a mesh shape
if (node.CollisionMeshID == -1)
{
break;
}
PropertySet.MeshCollider colliderInfo = (PropertySet.MeshCollider)current.Collider;
Vector3[] vertices = MeshUtilities.DataToVector(mesh.colliders[node.CollisionMeshID].verts);
if (colliderInfo.Convex)
{
subShape = new ConvexHullShape(vertices);
if (debug)
{
Console.WriteLine("Created Convex Mesh");
}
}
else
{
StridingMeshInterface sMesh = MeshUtilities.BulletShapeFromSubMesh(mesh.colliders[node.CollisionMeshID]);
subShape = new ConvexTriangleMeshShape(sMesh, true); //still not really concave
if (debug)
{
Console.WriteLine("Created Concave Mesh");
}
}
break;
}
}
if (null == subShape)
{
return;
}
//set sub shape local position/rotation and add it to the compound shape
Vector3 Translation = node.Position.Convert();
Quaternion rotation = node.Rotation.Convert();
DefaultMotionState motion = new DefaultMotionState(Matrix4.CreateFromQuaternion(rotation) * Matrix4.CreateTranslation(Translation));
motion.CenterOfMassOffset = Matrix4.CreateTranslation(mesh.physics.centerOfMass.Convert());
RigidBodyConstructionInfo info = new RigidBodyConstructionInfo(current.Mass, motion, subShape, subShape.CalculateLocalInertia(current.Mass));
info.Friction = current.Friction;
Bodies.Add(new RigidBody(info));
VisualMeshes.Add(new Mesh(mesh.meshes[node.SubMeshID], Translation));
if (debug)
{
Console.WriteLine("Created " + node.PropertySetID);
}
}
}
protected override void OnInitializePhysics()
{
ManifoldPoint.ContactAdded += MyContactCallback;
SetupEmptyDynamicsWorld();
//CompoundCollisionAlgorithm.CompoundChildShapePairCallback = MyCompoundChildShapeCallback;
convexDecompositionObjectOffset = new Vector3(10, 0, 0);
// Load wavefront file
var wo = new WavefrontObj();
//string filename = UnityEngine.Application.dataPath + "/BulletUnity/Examples/Scripts/BulletSharpDemos/ConvexDecompositionDemo/data/file.obj";
UnityEngine.TextAsset bytes = (UnityEngine.TextAsset)UnityEngine.Resources.Load("file.obj");
System.IO.Stream byteStream = new System.IO.MemoryStream(bytes.bytes);
int tcount = wo.LoadObj(byteStream);
if (tcount == 0)
{
return;
}
// Convert file data to TriangleMesh
var trimesh = new TriangleMesh();
trimeshes.Add(trimesh);
Vector3 localScaling = new Vector3(6, 6, 6);
List <int> indices = wo.Indices;
List <Vector3> vertices = wo.Vertices;
int i;
for (i = 0; i < tcount; i++)
{
int index0 = indices[i * 3];
int index1 = indices[i * 3 + 1];
int index2 = indices[i * 3 + 2];
Vector3 vertex0 = vertices[index0] * localScaling;
Vector3 vertex1 = vertices[index1] * localScaling;
Vector3 vertex2 = vertices[index2] * localScaling;
trimesh.AddTriangleRef(ref vertex0, ref vertex1, ref vertex2);
}
// Create a hull approximation
ConvexHullShape convexShape;
using (var tmpConvexShape = new ConvexTriangleMeshShape(trimesh))
{
using (var hull = new ShapeHull(tmpConvexShape))
{
hull.BuildHull(tmpConvexShape.Margin);
convexShape = new ConvexHullShape(hull.Vertices);
}
}
if (sEnableSAT)
{
convexShape.InitializePolyhedralFeatures();
}
CollisionShapes.Add(convexShape);
// Add non-moving body to world
float mass = 1.0f;
LocalCreateRigidBody(mass, Matrix.Translation(0, 2, 14), convexShape);
const bool useQuantization = true;
var concaveShape = new BvhTriangleMeshShape(trimesh, useQuantization);
LocalCreateRigidBody(0, Matrix.Translation(convexDecompositionObjectOffset), concaveShape);
CollisionShapes.Add(concaveShape);
// HACD
var hacd = new Hacd();
hacd.SetPoints(wo.Vertices);
hacd.SetTriangles(wo.Indices);
hacd.CompacityWeight = 0.1;
hacd.VolumeWeight = 0.0;
// Recommended HACD parameters: 2 100 false false false
hacd.NClusters = 2; // minimum number of clusters
hacd.Concavity = 100; // maximum concavity
hacd.AddExtraDistPoints = false;
hacd.AddNeighboursDistPoints = false;
hacd.AddFacesPoints = false;
hacd.NVerticesPerCH = 100; // max of 100 vertices per convex-hull
hacd.Compute();
hacd.Save("output.wrl", false);
// Generate convex result
var outputFile = new FileStream("file_convex.obj", FileMode.Create, FileAccess.Write);
var writer = new StreamWriter(outputFile);
var convexDecomposition = new ConvexDecomposition(writer, this);
convexDecomposition.LocalScaling = localScaling;
for (int c = 0; c < hacd.NClusters; c++)
{
int nVertices = hacd.GetNPointsCH(c);
int trianglesLen = hacd.GetNTrianglesCH(c) * 3;
double[] points = new double[nVertices * 3];
long[] triangles = new long[trianglesLen];
hacd.GetCH(c, points, triangles);
if (trianglesLen == 0)
{
continue;
}
Vector3[] verticesArray = new Vector3[nVertices];
int vi3 = 0;
for (int vi = 0; vi < nVertices; vi++)
{
verticesArray[vi] = new Vector3(
(float)points[vi3], (float)points[vi3 + 1], (float)points[vi3 + 2]);
vi3 += 3;
}
int[] trianglesInt = new int[trianglesLen];
for (int ti = 0; ti < trianglesLen; ti++)
{
trianglesInt[ti] = (int)triangles[ti];
}
convexDecomposition.ConvexDecompResult(verticesArray, trianglesInt);
}
// Combine convex shapes into a compound shape
var compound = new CompoundShape();
for (i = 0; i < convexDecomposition.convexShapes.Count; i++)
{
Vector3 centroid = convexDecomposition.convexCentroids[i];
var convexShape2 = convexDecomposition.convexShapes[i];
Matrix trans = Matrix.Translation(centroid);
if (sEnableSAT)
{
convexShape2.InitializePolyhedralFeatures();
}
CollisionShapes.Add(convexShape2);
compound.AddChildShape(trans, convexShape2);
LocalCreateRigidBody(1.0f, trans, convexShape2);
}
CollisionShapes.Add(compound);
writer.Dispose();
outputFile.Dispose();
#if true
mass = 10.0f;
var body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = 6;
body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = -6;
body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
#endif
}
protected override void OnInitializePhysics()
{
ManifoldPoint.ContactAdded += MyContactCallback;
SetupEmptyDynamicsWorld();
CompoundCollisionAlgorithm.CompoundChildShapePairCallback = MyCompoundChildShapeCallback;
convexDecompositionObjectOffset = new Vector3(10, 0, 0);
// Load wavefront file
var wo = new WavefrontObj();
int tcount = wo.LoadObj("data/file.obj");
if (tcount == 0)
{
return;
}
// Convert file data to TriangleMesh
var trimesh = new TriangleMesh();
trimeshes.Add(trimesh);
Vector3 localScaling = new Vector3(6, 6, 6);
List <int> indices = wo.Indices;
List <Vector3> vertices = wo.Vertices;
int i;
for (i = 0; i < tcount; i++)
{
int index0 = indices[i * 3];
int index1 = indices[i * 3 + 1];
int index2 = indices[i * 3 + 2];
Vector3 vertex0 = vertices[index0] * localScaling;
Vector3 vertex1 = vertices[index1] * localScaling;
Vector3 vertex2 = vertices[index2] * localScaling;
trimesh.AddTriangleRef(ref vertex0, ref vertex1, ref vertex2);
}
// Create a hull approximation
ConvexHullShape convexShape;
using (var tmpConvexShape = new ConvexTriangleMeshShape(trimesh))
{
using (var hull = new ShapeHull(tmpConvexShape))
{
hull.BuildHull(tmpConvexShape.Margin);
convexShape = new ConvexHullShape(hull.Vertices);
}
}
if (sEnableSAT)
{
convexShape.InitializePolyhedralFeatures();
}
CollisionShapes.Add(convexShape);
// Add non-moving body to world
float mass = 1.0f;
LocalCreateRigidBody(mass, Matrix.Translation(0, 2, 14), convexShape);
const bool useQuantization = true;
var concaveShape = new BvhTriangleMeshShape(trimesh, useQuantization);
LocalCreateRigidBody(0, Matrix.Translation(convexDecompositionObjectOffset), concaveShape);
CollisionShapes.Add(concaveShape);
// HACD
var hacd = new Hacd();
hacd.SetPoints(wo.Vertices);
hacd.SetTriangles(wo.Indices);
hacd.CompacityWeight = 0.1;
hacd.VolumeWeight = 0.0;
// Recommended HACD parameters: 2 100 false false false
hacd.NClusters = 2; // minimum number of clusters
hacd.Concavity = 100; // maximum concavity
hacd.AddExtraDistPoints = false;
hacd.AddNeighboursDistPoints = false;
hacd.AddFacesPoints = false;
hacd.NumVerticesPerConvexHull = 100; // max of 100 vertices per convex-hull
hacd.Compute();
hacd.Save("output.wrl", false);
// Generate convex result
var outputFile = new FileStream("file_convex.obj", FileMode.Create, FileAccess.Write);
var writer = new StreamWriter(outputFile);
var convexDecomposition = new ConvexDecomposition(writer, this);
convexDecomposition.LocalScaling = localScaling;
for (int c = 0; c < hacd.NClusters; c++)
{
Vector3[] points;
int[] triangles;
hacd.GetCH(c, out points, out triangles);
convexDecomposition.ConvexDecompResult(points, triangles);
}
// Combine convex shapes into a compound shape
var compound = new CompoundShape();
for (i = 0; i < convexDecomposition.convexShapes.Count; i++)
{
Vector3 centroid = convexDecomposition.convexCentroids[i];
Matrix trans = Matrix.Translation(centroid);
var convexShape2 = convexDecomposition.convexShapes[i] as ConvexHullShape;
if (sEnableSAT)
{
convexShape2.InitializePolyhedralFeatures();
}
CollisionShapes.Add(convexShape2);
compound.AddChildShape(trans, convexShape2);
LocalCreateRigidBody(1.0f, trans, convexShape2);
}
CollisionShapes.Add(compound);
writer.Dispose();
outputFile.Dispose();
#if true
mass = 10.0f;
var body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = 6;
body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = -6;
body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
#endif
}
public void DebugDrawObject(Matrix worldTransform, CollisionShape shape, Vector3 color)
{
if (shape.ShapeType == BroadphaseNativeTypes.Compound)
{
CompoundShape compoundShape = shape as CompoundShape;
for (int i = compoundShape.ChildShapeCount - 1; i >= 0; i--)
{
Matrix childTrans = compoundShape.GetChildTransform(i);
CollisionShape colShape = compoundShape.GetChildShape(i);
DebugDrawObject(worldTransform * childTrans, colShape, color);
}
}
else
{
switch (shape.ShapeType)
{
case BroadphaseNativeTypes.Sphere:
{
SphereShape sphereShape = shape as SphereShape;
float radius = sphereShape.Margin; //radius doesn't include the margin, so draw with margin
Vector3 start = worldTransform.Translation;
DebugDrawer.DrawLine(start, start + Vector3.TransformNormal(new Vector3(radius, 0, 0), worldTransform), color);
DebugDrawer.DrawLine(start, start + Vector3.TransformNormal(new Vector3(0, radius, 0), worldTransform), color);
DebugDrawer.DrawLine(start, start + Vector3.TransformNormal(new Vector3(0, 0, radius), worldTransform), color);
//drawSphere
break;
}
case BroadphaseNativeTypes.MultiSphere:
case BroadphaseNativeTypes.Cone:
{
ConeShape coneShape = shape as ConeShape;
float radius = coneShape.Radius; //+coneShape->getMargin();
float height = coneShape.Height; //+coneShape->getMargin();
Vector3 start = worldTransform.Translation;
DebugDrawer.DrawLine(start + Vector3.TransformNormal(new Vector3(0f, 0f, 0.5f * height), worldTransform), start + Vector3.TransformNormal(new Vector3(radius, 0f, -0.5f * height), worldTransform), color);
DebugDrawer.DrawLine(start + Vector3.TransformNormal(new Vector3(0f, 0f, 0.5f * height), worldTransform), start + Vector3.TransformNormal(new Vector3(-radius, 0f, -0.5f * height), worldTransform), color);
DebugDrawer.DrawLine(start + Vector3.TransformNormal(new Vector3(0f, 0f, 0.5f * height), worldTransform), start + Vector3.TransformNormal(new Vector3(0f, radius, -0.5f * height), worldTransform), color);
DebugDrawer.DrawLine(start + Vector3.TransformNormal(new Vector3(0f, 0f, 0.5f * height), worldTransform), start + Vector3.TransformNormal(new Vector3(0f, -radius, -0.5f * height), worldTransform), color);
break;
}
case BroadphaseNativeTypes.Cylinder:
{
CylinderShape cylinder = shape as CylinderShape;
int upAxis = cylinder.UpAxis;
float radius = cylinder.Radius;
float halfHeight = MathHelper.GetElement(cylinder.HalfExtents, upAxis);
Vector3 start = worldTransform.Translation;
Vector3 offsetHeight = new Vector3();
MathHelper.SetElement(ref offsetHeight, upAxis, halfHeight);
Vector3 offsetRadius = new Vector3();
MathHelper.SetElement(ref offsetRadius, (upAxis + 1) % 3, radius);
DebugDrawer.DrawLine(start + Vector3.TransformNormal(offsetHeight + offsetRadius, worldTransform), start + Vector3.TransformNormal(-offsetHeight + offsetRadius, worldTransform), color);
DebugDrawer.DrawLine(start + Vector3.TransformNormal(offsetHeight - offsetRadius, worldTransform), start + Vector3.TransformNormal(-offsetHeight - offsetRadius, worldTransform), color);
break;
}
default:
{
if (shape.ShapeType == BroadphaseNativeTypes.TriangleMesh)
{
TriangleMeshShape concaveMesh = shape as TriangleMeshShape;
//btVector3 aabbMax(1e30f,1e30f,1e30f);
//btVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
//todo pass camera, for some culling
Vector3 aabbMax = new Vector3(1e30f, 1e30f, 1e30f);
Vector3 aabbMin = new Vector3(-1e30f, -1e30f, -1e30f);
DebugDrawCallback drawCallback = new DebugDrawCallback(DebugDrawer, worldTransform, color);
concaveMesh.ProcessAllTriangles(drawCallback, aabbMin, aabbMax);
}
if (shape.ShapeType == BroadphaseNativeTypes.ConvexTriangleMesh)
{
ConvexTriangleMeshShape convexMesh = shape as ConvexTriangleMeshShape;
//todo: pass camera for some culling
Vector3 aabbMax = new Vector3(1e30f, 1e30f, 1e30f);
Vector3 aabbMin = new Vector3(-1e30f, -1e30f, -1e30f);
//DebugDrawcallback drawCallback;
DebugDrawCallback drawCallback = new DebugDrawCallback(DebugDrawer, worldTransform, color);
convexMesh.getStridingMesh().InternalProcessAllTriangles(drawCallback, aabbMin, aabbMax);
}
// for polyhedral shapes
if (shape.IsPolyhedral)
{
PolyhedralConvexShape polyshape = shape as PolyhedralConvexShape;
for (int i = 0; i < polyshape.EdgeCount; i++)
{
Vector3 a, b;
polyshape.GetEdge(i, out a, out b);
a = Vector3.TransformNormal(a, worldTransform);
b = Vector3.TransformNormal(b, worldTransform);
DebugDrawer.DrawLine(a, b, color);
}
}
break;
}
}
}
}