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>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public AddRemoveStressDemo(DemosGame game)
: base(game)
{
Space.Remove(vehicle.Vehicle);
var compoundShape = new CompoundShape(new List <CompoundShapeEntry>
{
new CompoundShapeEntry(new BoxShape(1, 1, 1), new Vector3(0, 1, 0), 1),
new CompoundShapeEntry(new BoxShape(2, 1, 2), new Vector3(), 1),
new CompoundShapeEntry(new BoxShape(1, 1, 1), new Vector3(0, -1, 0), 1)
});
for (int i = 0; i < 300; ++i)
{
var toAdd = new Entity(compoundShape, 10);
addedEntities.Add(toAdd);
}
var boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 300; ++i)
{
var toAdd = new Entity(boxShape, 10);
addedEntities.Add(toAdd);
}
Vector3[] vertices;
int[] indices;
ModelDataExtractor.GetVerticesAndIndicesFromModel(game.Content.Load <Model>("cube"), out vertices, out indices);
var mobileMeshShape = new MobileMeshShape(vertices, indices, new AffineTransform(Matrix3x3.CreateScale(1, 2, 1), new Vector3()), MobileMeshSolidity.Counterclockwise);
for (int i = 0; i < 300; ++i)
{
var toAdd = new Entity(mobileMeshShape, 10);
addedEntities.Add(toAdd);
}
for (int i = 0; i < addedEntities.Count; ++i)
{
var entity = addedEntities[i];
entity.Gravity = new Vector3();
entity.Position = GetRandomPosition(random);
entity.LinearVelocity = 3 * Vector3.Normalize(entity.Position);
Space.Add(entity);
}
var playgroundModel = game.Content.Load <Model>("playground");
ModelDataExtractor.GetVerticesAndIndicesFromModel(playgroundModel, out vertices, out indices);
var staticMesh = new StaticMesh(vertices, indices, new AffineTransform(Matrix3x3.CreateFromAxisAngle(Vector3.Up, MathHelper.Pi), new Vector3(0, -30, 0)));
staticMesh.Sidedness = TriangleSidedness.Counterclockwise;
Space.Add(staticMesh);
game.ModelDrawer.Add(staticMesh);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Creates a new kinematic MobileMesh.
/// </summary>
/// <param name="vertices">Vertices in the mesh.</param>
/// <param name="indices">Indices of the mesh.</param>
/// <param name="localTransform">Affine transform to apply to the vertices.</param>
/// <param name="solidity">Solidity/sidedness of the mesh. "Solid" is only permitted if the mesh is closed.</param>
public MobileMesh(Vector3[] vertices, int[] indices, AffineTransform localTransform, MobileMeshSolidity solidity)
{
ShapeDistributionInformation info;
var shape = new MobileMeshShape(vertices, indices, localTransform, solidity, out info);
Initialize(new MobileMeshCollidable(shape));
Position = info.Center;
}
/// <summary>
/// Creates a new dynamic MobileMesh.
/// </summary>
/// <param name="vertices">Vertices in the mesh.</param>
/// <param name="indices">Indices of the mesh.</param>
/// <param name="localTransform">Affine transform to apply to the vertices.</param>
/// <param name="solidity">Solidity/sidedness of the mesh. "Solid" is only permitted if the mesh is closed.</param>
/// <param name="mass">Mass of the mesh.</param>
public MobileMesh(Vector3[] vertices, int[] indices, AffineTransform localTransform, MobileMeshSolidity solidity, float mass)
{
Vector3 center;
var shape = new MobileMeshShape(vertices, indices, localTransform, solidity, out center);
Initialize(new MobileMeshCollidable(shape), mass);
Position = center;
}
/// <summary>
/// Creates a new kinematic MobileMesh.
/// </summary>
/// <param name="vertices">Vertices in the mesh.</param>
/// <param name="indices">Indices of the mesh.</param>
/// <param name="localTransform">Affine transform to apply to the vertices.</param>
/// <param name="solidity">Solidity/sidedness of the mesh. "Solid" is only permitted if the mesh is closed.</param>
public MobileMesh(System.Numerics.Vector3[] vertices, int[] indices, AffineTransform localTransform, MobileMeshSolidity solidity)
{
System.Numerics.Vector3 center;
var shape = new MobileMeshShape(vertices, indices, localTransform, solidity, out center);
Initialize(new MobileMeshCollidable(shape));
Position = center;
}
/// <summary>
/// Creates a new dynamic MobileMesh.
/// </summary>
/// <param name="vertices">Vertices in the mesh.</param>
/// <param name="indices">Indices of the mesh.</param>
/// <param name="localTransform">Affine transform to apply to the vertices.</param>
/// <param name="solidity">Solidity/sidedness of the mesh. "Solid" is only permitted if the mesh is closed.</param>
/// <param name="mass">Mass of the mesh.</param>
public MobileMesh(Vector3[] vertices, int[] indices, AffineTransform localTransform, MobileMeshSolidity solidity, float mass)
{
ShapeDistributionInformation info;
var shape = new MobileMeshShape(vertices, indices, localTransform, solidity, out info);
Matrix3X3 inertia;
Matrix3X3.Multiply(ref info.VolumeDistribution, mass * InertiaHelper.InertiaTensorScale, out inertia);
Initialize(new MobileMeshCollidable(shape), mass, inertia, info.Volume);
Position = info.Center;
}
public static DebugInfo GetDebugInfo(BEPUphysics.Entities.Entity DisplayedObject, Color color)
{
MobileMeshShape shape = DisplayedObject.CollisionInformation.Shape as MobileMeshShape;
var tempVertices = new VertexPositionNormalTexture[shape.TriangleMesh.Data.Vertices.Length];
for (int i = 0; i < shape.TriangleMesh.Data.Vertices.Length; i++)
{
Vector3 position;
shape.TriangleMesh.Data.GetVertexPosition(i, out position);
tempVertices[i] = new VertexPositionNormalTexture(
position,
Vector3.Zero,
Vector2.Zero);
}
List <VertexPositionColor> vertices = new List <VertexPositionColor>();
List <short> indices = new List <short>();
for (int i = 0; i < shape.TriangleMesh.Data.Indices.Length; i++)
{
indices.Add((short)shape.TriangleMesh.Data.Indices[i]);
}
for (int i = 0; i < indices.Count; i += 3)
{
int a = indices[i];
int b = indices[i + 1];
int c = indices[i + 2];
Vector3 normal = Vector3.Normalize(Vector3.Cross(
tempVertices[c].Position - tempVertices[a].Position,
tempVertices[b].Position - tempVertices[a].Position));
tempVertices[a].Normal += normal;
tempVertices[b].Normal += normal;
tempVertices[c].Normal += normal;
}
for (int i = 0; i < tempVertices.Length; i++)
{
tempVertices[i].Normal.Normalize();
vertices.Add(new VertexPositionColor(tempVertices[i].Position, color));
}
DebugInfo DebugInfo = new DebugInfo();
DebugInfo.vertices = vertices.ToArray();
DebugInfo.indices = indices.ToArray();
return(DebugInfo);
}
public override void Start()
{
if (Mesh != null)
{
MeshAsset mergedMesh = Mesh.Merged;
Vector3f[] positions = mergedMesh.VerticesPositions;
Vector3f[] collection = new Vector3f[positions.Length];
Transform t = gameElement.WorldTransform;
for (int i = 0, l = positions.Length; i < l; i++)
{
// TODO: Transform positions here !!
collection[i] = positions[i];
}
Vector3f center;
_shape = new MobileMeshShape(collection, mergedMesh.Indices, new AffineTransform(t.Scale, Quaternion.FromEulerAngles(t.Rotation.Z, t.Rotation.Y, t.Rotation.X), t.Translation), MobileMeshSolidity.DoubleSided, out center);
_centerOffset = (Vector3f)center;
}
}
protected override Entity CreateEntity()
{
MeshData meshData = Mesh.Get(_as.Database);
Vector3[] positions = meshData.GetVertexPositions().Select(v => v * Transform.Scale).ToArray();
int[] indices = meshData.GetIndices();
Vector3 center;
MobileMeshShape mms = new MobileMeshShape(
positions,
indices,
AffineTransform.Identity,
MobileMeshSolidity.Solid,
out center);
foreach (var meshRenderer in GameObject.GetComponents <MeshRenderer>())
{
meshRenderer.RenderOffset = Matrix4x4.CreateTranslation(-center / Transform.Scale);
}
return(new Entity(mms, Mass));
}
public static void GetShapeMeshData(EntityCollidable collidable, List <VertexPositionNormalTexture> vertices, List <ushort> indices)
{
MobileMeshShape shape = collidable.Shape as MobileMeshShape;
var tempVertices = new VertexPositionNormalTexture[shape.TriangleMesh.Data.Vertices.Length];
for (int i = 0; i < shape.TriangleMesh.Data.Vertices.Length; i++)
{
BEPUphysics.MathExtensions.Vector3 position;
shape.TriangleMesh.Data.GetVertexPosition(i, out position);
tempVertices[i] = new VertexPositionNormalTexture(
MathConverter.Convert(position),
Vector3.Zero,
Vector2.Zero);
}
for (int i = 0; i < shape.TriangleMesh.Data.Indices.Length; i++)
{
indices.Add((ushort)shape.TriangleMesh.Data.Indices[i]);
}
for (int i = 0; i < indices.Count; i += 3)
{
int a = indices[i];
int b = indices[i + 1];
int c = indices[i + 2];
Vector3 normal = Vector3.Normalize(Vector3.Cross(
tempVertices[c].Position - tempVertices[a].Position,
tempVertices[b].Position - tempVertices[a].Position));
tempVertices[a].Normal += normal;
tempVertices[b].Normal += normal;
tempVertices[c].Normal += normal;
}
for (int i = 0; i < tempVertices.Length; i++)
{
tempVertices[i].Normal.Normalize();
vertices.Add(tempVertices[i]);
}
}
/// <summary>
/// Constructs a new mobile mesh collidable.
/// </summary>
/// <param name="shape">Shape to use in the collidable.</param>
public MobileMeshCollidable(MobileMeshShape shape)
: base(shape)
{
Events = new ContactEventManager <EntityCollidable>();
}
/// <summary>
/// Constructs a new mobile mesh collidable.
/// </summary>
/// <param name="shape">Shape to use in the collidable.</param>
public MobileMeshCollidable(MobileMeshShape shape)
: base(shape)
{
}
