public static void AddMeshToSpace(GameObjectReference m, Cell c)
{
Model model = m.BaseGameObject as Model;
if (model.StaticMesh)
{
InstancedMeshShape sms = null;
if (staticMeshShapeCache.ContainsKey(model.Mesh3d.meshFileName))
{
sms = staticMeshShapeCache[model.Mesh3d.meshFileName];
}
else
{
Vector3[] verts = model.Mesh3d.GetMeshVertices();
int[] indecies = model.Mesh3d.GetMeshIndices();
sms = new InstancedMeshShape(verts, indecies);
staticMeshShapeCache.Add(model.Mesh3d.meshFileName, sms);
}
AffineTransform entityMatrix = new AffineTransform(m.Scale, Quaternion.RotationMatrix(m.Rotation), WorldSpace.GetRealWorldPos(m.Position, c));
InstancedMesh mm = new InstancedMesh(sms, entityMatrix);
mm.Tag = m;
mm.ImproveBoundaryBehavior = true;
mm.Sidedness = BEPUphysics.CollisionShapes.ConvexShapes.TriangleSidedness.Clockwise;
PhysicsEngine.Space.Add(mm);
m.PhysicsObj = mm;
m.EntityTransform = entityMatrix.Matrix;
}
else
{
MobileMeshShape mms = null;
ShapeDistributionInformation shapeInfo;
if (mobileMeshShapeCache.ContainsKey(model.Mesh3d.meshFileName))
{
mms = mobileMeshShapeCache[model.Mesh3d.meshFileName];
shapeInfo = mobileMeshInfoCache[model.Mesh3d.meshFileName];
}
else
{
Vector3[] verts = model.Mesh3d.GetMeshVertices();
int[] indecies = model.Mesh3d.GetMeshIndices();
mms = new MobileMeshShape(verts, indecies, AffineTransform.Identity, MobileMeshSolidity.Solid, out shapeInfo);
mobileMeshShapeCache.Add(model.Mesh3d.meshFileName, mms);
mobileMeshInfoCache.Add(model.Mesh3d.meshFileName, shapeInfo);
}
mms.Sidedness = BEPUphysics.CollisionShapes.ConvexShapes.TriangleSidedness.Clockwise;
Matrix mWorld = m.Rotation * Matrix.Translation(WorldSpace.GetRealWorldPos(m.Position, c));
Entity e = new Entity(mms, 10);
e.CollisionInformation.LocalPosition = shapeInfo.Center;
e.WorldTransform = mWorld;
e.Tag = m;
e.PositionUpdateMode = PositionUpdateMode.Continuous;
PhysicsEngine.Space.Add(e);
m.PhysicsObj = e;
m.EntityTransform = mWorld;
}
}
/// <summary>
/// Creates and instance of InstancedTriangleMesh
/// Call the Static Method GetInstacedMesh to get the InstancedMeshShape obj
/// </summary>
/// <param name="InstancedMeshShape">The instanced mesh shape.</param>
/// <param name="pos">The pos.</param>
/// <param name="rotation">The rotation.</param>
/// <param name="scale">The scale.</param>
/// <param name="materialDescription">The material description.</param>
/// <param name="TriangleSidedness">The triangle sidedness.</param>
public InstancedTriangleMeshObject(InstancedMeshShape InstancedMeshShape, Vector3 pos, Matrix rotation, Vector3 scale, MaterialDescription materialDescription, TriangleSidedness TriangleSidedness = TriangleSidedness.Counterclockwise)
{
instancedMesh = new InstancedMesh(InstancedMeshShape, new BEPUphysics.MathExtensions.AffineTransform(scale, Quaternion.CreateFromRotationMatrix(rotation), pos));
instancedMesh.Material = new BEPUphysics.Materials.Material(materialDescription.StaticFriction, materialDescription.DynamicFriction, materialDescription.Bounciness);
instancedMesh.Sidedness = TriangleSidedness;
this.rotation = rotation;
this.scale = scale;
}
private void CreatePhysics()
{
BEPUutilities.Vector3[] vertices = new BEPUutilities.Vector3[VertexData.Length];
for (int i = 0; i < VertexData.Length; i++)
{
vertices[i] = VertexData[i].position.ToBepu();
}
m_physicsInstancedMeshShape = new InstancedMeshShape(vertices, IndexData);
}
///<summary>
/// Constructs a new InstancedMesh.
///</summary>
///<param name="meshShape">Shape to use for the instance.</param>
///<param name="worldTransform">Transform to use for the instance.</param>
public InstancedMesh(InstancedMeshShape meshShape, AffineTransform worldTransform)
{
this.worldTransform = worldTransform;
base.Shape = meshShape;
collisionRules.group = CollisionRules.DefaultKinematicCollisionGroup;
events = new ContactEventManager <InstancedMesh>(this);
material = new Material();
materialChangedDelegate = OnMaterialChanged;
material.MaterialChanged += materialChangedDelegate;
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public InstancedMeshDemo(DemosGame game)
: base(game)
{
Vector3[] vertices;
int[] indices;
ModelDataExtractor.GetVerticesAndIndicesFromModel(game.Content.Load <Model>("guy"), out vertices, out indices);
var meshShape = new InstancedMeshShape(vertices, indices);
var random = new Random();
for (int i = 0; i < 10; i++)
{
for (int j = 0; j < 10; j++)
{
//Create a transform and the instance of the mesh.
var transform = new AffineTransform(
new Vector3((Fix64)random.NextDouble() * 6 + .5m, (Fix64)random.NextDouble() * 6 + .5m, (Fix64)random.NextDouble() * 6 + .5m),
Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3((Fix64)random.NextDouble(), (Fix64)random.NextDouble(), (Fix64)random.NextDouble())), (Fix64)random.NextDouble() * 100),
new Vector3(i * 2, 3, j * 2));
var mesh = new InstancedMesh(meshShape, transform);
//Making the triangles one-sided makes collision detection a bit more robust, since the backsides of triangles won't try to collide with things
//and 'pull' them back into the mesh.
mesh.Sidedness = TriangleSidedness.Counterclockwise;
Space.Add(mesh);
game.ModelDrawer.Add(mesh);
}
}
for (int i = 0; i < 5; i++)
{
for (int j = 0; j < 5; j++)
{
//Drop a box on the mesh.
Space.Add(new Box(new Vector3((i + 1) * 4, 10, (j + 1) * 4), 1, 1, 1, 10));
}
}
Space.Add(new Box(new Vector3(10, 0, 10), 20, 1, 20));
game.Camera.Position = new Vector3(10, 6, 30);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public StaticGroupDemo(DemosGame game)
: base(game)
{
//Creating a bunch of separate StaticMeshes or kinematic Entity objects for an environment can pollute the broad phase.
//This is because the broad phase implementation doesn't have guarantees about what elements can collide, so it has to
//traverse the acceleration structure all the way down to pairs to figure it out. That can get expensive!
//Individual objects, like StaticMeshes, can have very complicated geometry without hurting the broad phase because the broad phase
//has no knowledge of the thousands of triangles in the mesh. The StaticMesh itself knows that the triangles within the mesh
//never need to collide, so it never needs to test them against each other.
//Similarly, the StaticGroup can be given a bunch of separate collidables. The broad phase doesn't directly know about these child collidables-
//it only sees the StaticGroup. The StaticGroup knows that the things inside it can't ever collide with each other, so no tests are needed.
//This avoids the performance problem!
//To demonstrate, we'll be creating a set of static objects and giving them to a group to manage.
var collidables = new List <Collidable>();
//Start with a whole bunch of boxes. These are entity collidables, but without entities!
float xSpacing = 6;
float ySpacing = 6;
float zSpacing = 6;
//NOTE: You might notice this demo takes a while to start, especially on the Xbox360. Do not fear! That's due to the creation of the graphics data, not the physics.
//The physics can handle over 100,000 static objects pretty easily. The graphics, not so much :)
//Try disabling the game.ModelDrawer.Add() lines and increasing the number of static objects.
int xCount = 15;
int yCount = 7;
int zCount = 15;
var random = new Random();
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
for (int k = 0; k < zCount; k++)
{
//Create a transform and the instance of the mesh.
var collidable = new ConvexCollidable <BoxShape>(new BoxShape((float)random.NextDouble() * 6 + .5f, (float)random.NextDouble() * 6 + .5f, (float)random.NextDouble() * 6 + .5f));
//This EntityCollidable isn't associated with an entity, so we must manually tell it where to sit by setting the WorldTransform.
//This also updates its bounding box.
collidable.WorldTransform = new RigidTransform(
new Vector3(i * xSpacing - xCount * xSpacing * .5f, j * ySpacing + 3, k * zSpacing - zCount * zSpacing * .5f),
Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble())), (float)random.NextDouble() * 100));
collidables.Add(collidable);
game.ModelDrawer.Add(collidable);
}
}
}
//Now create a bunch of instanced meshes too.
xSpacing = 6;
ySpacing = 6;
zSpacing = 6;
xCount = 10;
yCount = 2;
zCount = 10;
Vector3[] vertices;
int[] indices;
ModelDataExtractor.GetVerticesAndIndicesFromModel(game.Content.Load <Model>("fish"), out vertices, out indices);
var meshShape = new InstancedMeshShape(vertices, indices);
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
for (int k = 0; k < zCount; k++)
{
//Create a transform and the instance of the mesh.
var transform = new AffineTransform(
new Vector3((float)random.NextDouble() * 6 + .5f, (float)random.NextDouble() * 6 + .5f, (float)random.NextDouble() * 6 + .5f),
Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble())), (float)random.NextDouble() * 100),
new Vector3(i * xSpacing - xCount * xSpacing * .5f, j * ySpacing + 50, k * zSpacing - zCount * zSpacing * .5f));
var mesh = new InstancedMesh(meshShape, transform);
//Making the triangles one-sided makes collision detection a bit more robust, since the backsides of triangles won't try to collide with things
//and 'pull' them back into the mesh.
mesh.Sidedness = TriangleSidedness.Counterclockwise;
collidables.Add(mesh);
game.ModelDrawer.Add(mesh);
}
}
}
var ground = new ConvexCollidable <BoxShape>(new BoxShape(200, 1, 200));
ground.WorldTransform = new RigidTransform(new Vector3(0, -3, 0), Quaternion.Identity);
collidables.Add(ground);
game.ModelDrawer.Add(ground);
var group = new StaticGroup(collidables);
Space.Add(group);
//Create a bunch of dynamic boxes to drop on the staticswarm.
xCount = 8;
yCount = 3;
zCount = 8;
xSpacing = 3f;
ySpacing = 5f;
zSpacing = 3f;
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < zCount; j++)
{
for (int k = 0; k < yCount; k++)
{
Space.Add(new Box(new Vector3(
xSpacing * i - (xCount - 1) * xSpacing / 2f,
100 + k * (ySpacing),
2 + zSpacing * j - (zCount - 1) * zSpacing / 2f),
1, 1, 1, 10));
}
}
}
game.Camera.Position = new Vector3(0, 60, 90);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public CharacterStressierTestDemo(DemosGame game)
: base(game)
{
//Load in mesh data and create the group.
Vector3[] staticTriangleVertices;
int[] staticTriangleIndices;
var playgroundModel = game.Content.Load <Model>("playground");
//This is a little convenience method used to extract vertices and indices from a model.
//It doesn't do anything special; any approach that gets valid vertices and indices will work.
ModelDataExtractor.GetVerticesAndIndicesFromModel(playgroundModel, out staticTriangleVertices, out staticTriangleIndices);
var meshShape = new InstancedMeshShape(staticTriangleVertices, staticTriangleIndices);
var meshes = new List <Collidable>();
var xSpacing = 400;
var ySpacing = 400;
var xCount = 11;
var yCount = 11;
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
var staticMesh = new InstancedMesh(meshShape, new AffineTransform(Matrix3x3.Identity, new Vector3(-xSpacing * (xCount - 1) / 2 + i * xSpacing, 0, -ySpacing * (yCount - 1) / 2 + j * ySpacing)));
staticMesh.Sidedness = TriangleSidedness.Counterclockwise;
Space.Add(staticMesh);
//meshes.Add(staticMesh);
game.ModelDrawer.Add(staticMesh);
}
}
//var group = new StaticGroup(meshes);
//Space.Add(group);
//To demonstrate, we'll be creating a set of static objects and giving them to a group to manage.
var collidables = new List <Collidable>();
//Start with a whole bunch of boxes. These are entity collidables, but without entities!
xSpacing = 25;
ySpacing = 16;
float zSpacing = 25;
xCount = 25;
yCount = 7;
int zCount = 25;
var random = new Random();
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
for (int k = 0; k < zCount; k++)
{
//Create a transform and the instance of the mesh.
var collidable = new ConvexCollidable <BoxShape>(new BoxShape((float)random.NextDouble() * 25 + 5.5f, (float)random.NextDouble() * 25 + 5.5f, (float)random.NextDouble() * 25 + 5.5f));
//This EntityCollidable isn't associated with an entity, so we must manually tell it where to sit by setting the WorldTransform.
//This also updates its bounding box.
collidable.WorldTransform = new RigidTransform(
new Vector3(i * xSpacing - xCount * xSpacing * .5f, j * ySpacing + -50, k * zSpacing - zCount * zSpacing * .5f),
Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble())), (float)random.NextDouble() * 100));
collidables.Add(collidable);
game.ModelDrawer.Add(collidable);
}
}
}
var group = new StaticGroup(collidables);
Space.Add(group);
//Now drop the characters on it!
var numColumns = 16;
var numRows = 16;
var numHigh = 16;
float separation = 24;
for (int i = 0; i < numRows; i++)
{
for (int j = 0; j < numColumns; j++)
{
for (int k = 0; k < numHigh; k++)
{
var character = new CharacterController();
character.Body.Position =
new Vector3(
separation * i - numRows * separation / 2,
50f + k * separation,
separation * j - numColumns * separation / 2);
characters.Add(character);
Space.Add(character);
}
}
}
game.Camera.Position = new Vector3(0, 10, 40);
//Dump some boxes on top of the characters for fun.
numColumns = 16;
numRows = 16;
numHigh = 8;
separation = 24;
for (int i = 0; i < numRows; i++)
{
for (int j = 0; j < numColumns; j++)
{
for (int k = 0; k < numHigh; k++)
{
var toAdd = new Box(
new Vector3(
separation * i - numRows * separation / 2,
52f + k * separation,
separation * j - numColumns * separation / 2),
0.8f, 0.8f, 0.8f, 15);
toAdd.PositionUpdateMode = BEPUphysics.PositionUpdating.PositionUpdateMode.Continuous;
Space.Add(toAdd);
}
}
}
}
///<summary>
/// Constructs a new InstancedMesh.
///</summary>
///<param name="meshShape">Shape to use for the instance.</param>
///<param name="worldTransform">Transform to use for the instance.</param>
public InstancedMesh(InstancedMeshShape meshShape, AffineTransform worldTransform)
{
this.worldTransform = worldTransform;
base.Shape = meshShape;
Events = new ContactEventManager <InstancedMesh>();
}
///<summary>
/// Constructs a new InstancedMesh.
///</summary>
///<param name="meshShape">Shape to use for the instance.</param>
public InstancedMesh(InstancedMeshShape meshShape)
: this(meshShape, AffineTransform.Identity)
{
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public CharacterAddRemoveStressTestDemo(DemosGame game)
: base(game)
{
//Load in mesh data and create the group.
Vector3[] staticTriangleVertices;
int[] staticTriangleIndices;
var playgroundModel = game.Content.Load <Model>("playground");
//This is a little convenience method used to extract vertices and indices from a model.
//It doesn't do anything special; any approach that gets valid vertices and indices will work.
ModelDataExtractor.GetVerticesAndIndicesFromModel(playgroundModel, out staticTriangleVertices, out staticTriangleIndices);
var meshShape = new InstancedMeshShape(staticTriangleVertices, staticTriangleIndices);
var meshes = new List <Collidable>();
var xSpacing = 400;
var ySpacing = 400;
var xCount = 3;
var yCount = 3;
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
var staticMesh = new InstancedMesh(meshShape, new AffineTransform(Matrix3x3.Identity, new Vector3(-xSpacing * (xCount - 1) / 2 + i * xSpacing, 0, -ySpacing * (yCount - 1) / 2 + j * ySpacing)));
staticMesh.Sidedness = TriangleSidedness.Counterclockwise;
Space.Add(staticMesh);
//meshes.Add(staticMesh);
game.ModelDrawer.Add(staticMesh);
}
}
//var group = new StaticGroup(meshes);
//Space.Add(group);
//Now drop the characters on it!
var numColumns = 8;
var numRows = 8;
var numHigh = 8;
float separation = 8;
for (int i = 0; i < numRows; i++)
{
for (int j = 0; j < numColumns; j++)
{
for (int k = 0; k < numHigh; k++)
{
var character = new CharacterController();
character.Body.Position =
new Vector3(
separation * i - numRows * separation / 2,
40f + k * separation,
separation * j - numColumns * separation / 2);
characters.Add(character);
Space.Add(character);
}
}
}
//Now drop the ball-characters on it!
numColumns = 8;
numRows = 8;
numHigh = 8;
separation = 8;
for (int i = 0; i < numRows; i++)
{
for (int j = 0; j < numColumns; j++)
{
for (int k = 0; k < numHigh; k++)
{
var character = new SphereCharacterController();
character.Body.Position =
new Vector3(
separation * i - numRows * separation / 2,
48f + k * separation,
separation * j - numColumns * separation / 2);
sphereCharacters.Add(character);
Space.Add(character);
}
}
}
game.Camera.Position = new Vector3(0, 10, 40);
//Dump some boxes on top of the characters for fun.
numColumns = 8;
numRows = 8;
numHigh = 8;
separation = 8;
for (int i = 0; i < numRows; i++)
{
for (int j = 0; j < numColumns; j++)
{
for (int k = 0; k < numHigh; k++)
{
var toAdd = new Box(
new Vector3(
separation * i - numRows * separation / 2,
52f + k * separation,
separation * j - numColumns * separation / 2),
0.8f, 0.8f, 0.8f, 15);
toAdd.PositionUpdateMode = BEPUphysics.PositionUpdating.PositionUpdateMode.Continuous;
Space.Add(toAdd);
}
}
}
}
