public override void ConvexDecompResult(ConvexResult result)
{
TriangleMesh trimesh = new TriangleMesh();
demo.trimeshes.Add(trimesh);
Vector3 localScaling = new Vector3(6.0f, 6.0f, 6.0f);
if (output == null)
return;
output.WriteLine("## Hull Piece {0} with {1} vertices and {2} triangles.", mHullCount, result.mHullVertices.Length, result.mHullIndices.Length / 3);
output.WriteLine("usemtl Material{0}", mBaseCount);
output.WriteLine("o Object{0}", mBaseCount);
foreach (Vector3 p in result.mHullVertices)
{
output.WriteLine(string.Format(floatFormat, "v {0:F9} {1:F9} {2:F9}", p.X, p.Y, p.Z));
}
//calc centroid, to shift vertices around center of mass
demo.centroid = Vector3.Zero;
AlignedVector3Array vertices = new AlignedVector3Array();
if (true)
{
foreach (Vector3 vertex in result.mHullVertices)
{
demo.centroid += vertex * localScaling;
}
}
demo.centroid /= (float)result.mHullVertices.Length;
if (true)
{
foreach (Vector3 vertex in result.mHullVertices)
{
vertices.Add(vertex * localScaling - demo.centroid);
}
}
if (true)
{
int[] src = result.mHullIndices;
for (int i = 0; i < src.Length; i += 3)
{
int index0 = src[i];
int index1 = src[i + 1];
int index2 = src[i + 2];
Vector3 vertex0 = result.mHullVertices[index0] * localScaling - demo.centroid;
Vector3 vertex1 = result.mHullVertices[index1] * localScaling - demo.centroid;
Vector3 vertex2 = result.mHullVertices[index2] * localScaling - demo.centroid;
trimesh.AddTriangle(vertex0, vertex1, vertex2);
index0 += mBaseCount;
index1 += mBaseCount;
index2 += mBaseCount;
output.WriteLine("f {0} {1} {2}", index0 + 1, index1 + 1, index2 + 1);
}
}
//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
//#define SHRINK_OBJECT_INWARDS 1
#if SHRINK_OBJECT_INWARDS
float collisionMargin = 0.01f;
btAlignedObjectArray<btVector3> planeEquations;
btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations);
btAlignedObjectArray<btVector3> shiftedPlaneEquations;
for (int p=0;p<planeEquations.size();p++)
{
btVector3 plane = planeEquations[p];
plane[3] += collisionMargin;
shiftedPlaneEquations.push_back(plane);
}
btAlignedObjectArray<btVector3> shiftedVertices;
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);
btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());
#else //SHRINK_OBJECT_INWARDS
ConvexHullShape convexShape = new ConvexHullShape(vertices);
#endif
if (demo.sEnableSAT)
{
convexShape.InitializePolyhedralFeatures();
}
convexShape.Margin = 0.01f;
convexShapes.Add(convexShape);
convexCentroids.Add(demo.centroid);
demo.CollisionShapes.Add(convexShape);
mBaseCount += result.mHullVertices.Length; // advance the 'base index' counter.
}
public override void ConvexDecompResult(ConvexResult result)
{
TriangleMesh trimesh = new TriangleMesh();
demo.trimeshes.Add(trimesh);
Vector3 localScaling = new Vector3(6.0f, 6.0f, 6.0f);
if (output == null)
{
return;
}
output.WriteLine("## Hull Piece {0} with {1} vertices and {2} triangles.", mHullCount, result.mHullVertices.Length, result.mHullIndices.Length / 3);
output.WriteLine("usemtl Material{0}", mBaseCount);
output.WriteLine("o Object{0}", mBaseCount);
foreach (Vector3 p in result.mHullVertices)
{
output.WriteLine(string.Format(floatFormat, "v {0:F9} {1:F9} {2:F9}", p.X, p.Y, p.Z));
}
//calc centroid, to shift vertices around center of mass
demo.centroid = Vector3.Zero;
AlignedVector3Array vertices = new AlignedVector3Array();
if (true)
{
foreach (Vector3 vertex in result.mHullVertices)
{
demo.centroid += vertex * localScaling;
}
}
demo.centroid /= (float)result.mHullVertices.Length;
if (true)
{
foreach (Vector3 vertex in result.mHullVertices)
{
vertices.Add(vertex * localScaling - demo.centroid);
}
}
if (true)
{
int[] src = result.mHullIndices;
for (int i = 0; i < src.Length; i += 3)
{
int index0 = src[i];
int index1 = src[i + 1];
int index2 = src[i + 2];
Vector3 vertex0 = result.mHullVertices[index0] * localScaling - demo.centroid;
Vector3 vertex1 = result.mHullVertices[index1] * localScaling - demo.centroid;
Vector3 vertex2 = result.mHullVertices[index2] * localScaling - demo.centroid;
trimesh.AddTriangle(vertex0, vertex1, vertex2);
index0 += mBaseCount;
index1 += mBaseCount;
index2 += mBaseCount;
output.WriteLine("f {0} {1} {2}", index0 + 1, index1 + 1, index2 + 1);
}
}
//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
//#define SHRINK_OBJECT_INWARDS 1
#if SHRINK_OBJECT_INWARDS
float collisionMargin = 0.01f;
btAlignedObjectArray <btVector3> planeEquations;
btGeometryUtil::getPlaneEquationsFromVertices(vertices, planeEquations);
btAlignedObjectArray <btVector3> shiftedPlaneEquations;
for (int p = 0; p < planeEquations.size(); p++)
{
btVector3 plane = planeEquations[p];
plane[3] += collisionMargin;
shiftedPlaneEquations.push_back(plane);
}
btAlignedObjectArray <btVector3> shiftedVertices;
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations, shiftedVertices);
btConvexHullShape *convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()), shiftedVertices.size());
#else //SHRINK_OBJECT_INWARDS
ConvexHullShape convexShape = new ConvexHullShape(vertices);
#endif
if (demo.sEnableSAT)
{
convexShape.InitializePolyhedralFeatures();
}
convexShape.Margin = 0.01f;
convexShapes.Add(convexShape);
convexCentroids.Add(demo.centroid);
demo.CollisionShapes.Add(convexShape);
mBaseCount += result.mHullVertices.Length; // advance the 'base index' counter.
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(btConvexHullShape obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
