public TriangleMesh(bool use32bitIndices,bool use4componentVertices)
{
m_use32bitIndices = use32bitIndices;
m_use4componentVertices = use4componentVertices;
IndexedMesh meshIndex = new IndexedMesh();
m_indexedMeshes.Add(meshIndex);
if (m_use32bitIndices)
{
m_indexedMeshes[0].m_numTriangles = m_32bitIndices.Count/3;
m_indexedMeshes[0].m_indexType = PHY_ScalarType.PHY_INTEGER;
m_indexedMeshes[0].m_triangleIndexStride = 3;
}
else
{
m_indexedMeshes[0].m_numTriangles = m_16bitIndices.Count/3;
m_indexedMeshes[0].m_triangleIndexBase = null;
m_indexedMeshes[0].m_indexType = PHY_ScalarType.PHY_SHORT;
m_indexedMeshes[0].m_triangleIndexStride = 3;
}
if (m_use4componentVertices)
{
m_indexedMeshes[0].m_numVertices = m_4componentVertices.Count;
m_indexedMeshes[0].m_vertexStride = 1;
}
else
{
m_indexedMeshes[0].m_numVertices = m_3componentVertices.Count/3;
m_indexedMeshes[0].m_vertexStride = 3;
}
}
//just to be backwards compatible
public TriangleIndexVertexArray(int numTriangles,ObjectArray<int> triangleIndexBase,int triangleIndexStride,int numVertices,ObjectArray<Vector3> vertexBase,int vertexStride)
{
IndexedMesh indexedMesh = new IndexedMesh();
indexedMesh.m_numTriangles = numTriangles;
indexedMesh.m_triangleIndexBase = triangleIndexBase;
indexedMesh.m_triangleIndexStride = triangleIndexStride;
indexedMesh.m_numVertices = numVertices;
indexedMesh.m_vertexBase = vertexBase;
indexedMesh.m_vertexStride = vertexStride;
AddIndexedMesh(indexedMesh,PHY_ScalarType.PHY_INTEGER);
}
protected override void OnInitialize()
{
Freelook.SetEyeTarget(eye, target);
Graphics.SetFormText("BulletSharp - Concave Convexcast Demo");
Graphics.SetInfoText("Move using mouse and WASD+shift\n" +
"F3 - Toggle debug\n" +
//"F11 - Toggle fullscreen\n" +
"Space - Shoot box");
IsDebugDrawEnabled = false;
DebugDrawMode = debugMode;
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
indexVertexArrays = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.NumTriangles = totalTriangles;
mesh.NumVertices = totalVerts;
mesh.TriangleIndexStride = 3 * sizeof(int);
mesh.VertexStride = Vector3.SizeInBytes;
mesh.TriangleIndexBase = Marshal.AllocHGlobal(mesh.TriangleIndexStride * totalTriangles);
mesh.VertexBase = Marshal.AllocHGlobal(mesh.VertexStride * totalVerts);
var indicesStream = mesh.GetTriangleStream();
var indices = new BinaryWriter(indicesStream);
for (int i = 0; i < NumVertsX - 1; i++)
{
for (int j = 0; j < NumVertsY - 1; j++)
{
indices.Write(j * NumVertsX + i);
indices.Write(j * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write(j * NumVertsX + i);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i);
}
}
indices.Dispose();
indexVertexArrays.AddIndexedMesh(mesh);
convexcastBatch = new ConvexcastBatch(40.0f, 0.0f, -10.0f, 80.0f);
//convexcastBatch = new ConvexcastBatch(true, 40.0f, -50.0f, 50.0f);
}
private void CreateGround()
{
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
const int triangleIndexStride = 3 * sizeof(int);
const int vertexStride = Vector3.SizeInBytes;
var mesh = new IndexedMesh();
mesh.Allocate(totalTriangles, totalVerts, triangleIndexStride, vertexStride);
var indicesStream = mesh.GetTriangleStream();
using (var indices = new BinaryWriter(indicesStream))
{
for (int x = 0; x < NumVertsX - 1; x++)
{
for (int y = 0; y < NumVertsY - 1; y++)
{
int row1Index = x * NumVertsX + y;
int row2Index = row1Index + NumVertsX;
indices.Write(row1Index);
indices.Write(row1Index + 1);
indices.Write(row2Index + 1);
indices.Write(row1Index);
indices.Write(row2Index + 1);
indices.Write(row2Index);
}
}
}
indexVertexArrays = new TriangleIndexVertexArray();
indexVertexArrays.AddIndexedMesh(mesh);
SetVertexPositions(waveHeight, 0.0f);
const bool useQuantizedAabbCompression = true;
groundShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
CollisionShapes.Add(groundShape);
staticBody = LocalCreateRigidBody(0.0f, Matrix.Identity, groundShape);
staticBody.CollisionFlags |= CollisionFlags.StaticObject;
staticBody.UserObject = "Ground";
}
private void EvaluateNormals(IndexedMesh indexedMesh)
{
foreach (var bufferAndPrimitives in indexedMesh.GroupPrimitives())
{
var bufferView = bufferAndPrimitives.BufferView;
var existingNormals = bufferView.GetStream(StreamKey.Normal);
if (existingNormals != null)
{
continue;
}
var positions = bufferView.GetStreamReader <Vector3>(StreamKey.Position);
var normals = new ArrayMeshStream <Vector3>(positions.Count, StreamConverterFactory.Default);
foreach (var primitive in bufferAndPrimitives)
{
primitive.SetIndexStream(StreamKey.Normal, primitive.GetIndexReader(StreamKey.Position).ToList());
}
{
foreach (var face in indexedMesh.Primitives.SelectMany(_ => _.GetFaces(StreamKey.Position)))
{
var a = positions[face.Item1];
var b = positions[face.Item2];
var c = positions[face.Item3];
var n = Vector3.Cross(b - a, c - a);
normals[face.Item1] += n;
normals[face.Item2] += n;
normals[face.Item3] += n;
}
for (var index = 0; index < normals.Count; index++)
{
var normal = normals[index];
if (normal != Vector3.Zero)
{
normals[index] = Vector3.Normalize(normal);
}
}
bufferView.SetStream(StreamKey.Normal, normals);
}
foreach (var primitive in bufferAndPrimitives)
{
primitive.SetIndexStream(StreamKey.Normal, primitive.GetIndexReader(StreamKey.Position).ToList());
}
}
}
private void CreateGround()
{
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
const int triangleIndexStride = 3 * sizeof(int);
indexVertexArrays = new TriangleIndexVertexArray();
var mesh = new IndexedMesh();
mesh.Allocate(totalTriangles, totalVerts, triangleIndexStride, Vector3.SizeInBytes, PhyScalarType.Int32, PhyScalarType.Single);
DataStream indices = mesh.LockIndices();
for (int x = 0; x < NumVertsX - 1; x++)
{
for (int y = 0; y < NumVertsY - 1; y++)
{
int row1Index = x * NumVertsX + y;
int row2Index = row1Index + NumVertsX;
indices.Write(row1Index);
indices.Write(row1Index + 1);
indices.Write(row2Index + 1);
indices.Write(row1Index);
indices.Write(row2Index + 1);
indices.Write(row2Index);
}
}
indices.Dispose();
indexVertexArrays = new TriangleIndexVertexArray();
indexVertexArrays.AddIndexedMesh(mesh);
SetVertexPositions(WaveHeight, 0.0f);
const bool useQuantizedAabbCompression = true;
groundShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
staticBody = LocalCreateRigidBody(0.0f, Matrix.Identity, groundShape);
staticBody.CollisionFlags |= CollisionFlags.StaticObject;
staticBody.UserObject = "Ground";
}
protected override void OnInitialize()
{
Freelook.SetEyeTarget(eye, target);
Graphics.SetFormText("BulletSharp - Concave Raycast Demo");
Graphics.SetInfoText("Move using mouse and WASD+shift\n" +
"F3 - Toggle debug\n" +
//"F11 - Toggle fullscreen\n" +
"Space - Shoot box");
DebugDrawMode = debugMode;
const int totalVerts = NUM_VERTS_X * NUM_VERTS_Y;
const int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);
indexVertexArrays = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.Allocate(totalVerts, Vector3.SizeInBytes, totalTriangles, 3 * sizeof(int));
DataStream indices = mesh.LockIndices();
for (int i = 0; i < NUM_VERTS_X - 1; i++)
{
for (int j = 0; j < NUM_VERTS_Y - 1; j++)
{
indices.Write(j * NUM_VERTS_X + i);
indices.Write(j * NUM_VERTS_X + i + 1);
indices.Write((j + 1) * NUM_VERTS_X + i + 1);
indices.Write(j * NUM_VERTS_X + i);
indices.Write((j + 1) * NUM_VERTS_X + i + 1);
indices.Write((j + 1) * NUM_VERTS_X + i);
}
}
indices.Dispose();
indexVertexArrays.AddIndexedMesh(mesh);
raycastBar = new RaycastBar(4000.0f, 0.0f);
//raycastBar = new RaycastBar(true, 40.0f, -50.0f, 50.0f);
}
private IEnumerable <IMesh> PaintSeparateStreamMesh(IndexedMesh mesh)
{
foreach (var bufferAndPrimitives in mesh.GroupPrimitives())
{
var bufferView = bufferAndPrimitives.BufferView;
if (bufferView.GetStream(StreamKey.Color) != null)
{
continue;
}
var streamConverterFactory = bufferView.GetStream(StreamKey.Position).ConverterFactory;
bufferView.SetStream(StreamKey.Color,
new ArrayMeshStream <Vector4>(new[] { _color }, streamConverterFactory));
foreach (var primitiveAndIndex in bufferAndPrimitives.Primitives)
{
var submesh = primitiveAndIndex.Primitive;
var positionIndices = submesh.GetIndexReader(StreamKey.Position);
var indices = new int[positionIndices.Count];
submesh.SetIndexStream(StreamKey.Color, indices);
}
}
yield return(mesh);
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Vector3 worldMin = new Vector3(-1000, -1000, -1000);
Vector3 worldMax = new Vector3(1000, 1000, 1000);
Broadphase = new AxisSweep3(worldMin, worldMax);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SplitImpulse = 1;
World.Gravity = new Vector3(0, -10, 0);
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
indexVertexArrays = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.NumTriangles = totalTriangles;
mesh.NumVertices = totalVerts;
mesh.TriangleIndexStride = 3 * sizeof(int);
mesh.VertexStride = Vector3.SizeInBytes;
mesh.TriangleIndexBase = Marshal.AllocHGlobal(mesh.TriangleIndexStride * totalTriangles);
mesh.VertexBase = Marshal.AllocHGlobal(mesh.VertexStride * totalVerts);
var indicesStream = mesh.GetTriangleStream();
var indices = new BinaryWriter(indicesStream);
for (int i = 0; i < NumVertsX - 1; i++)
{
for (int j = 0; j < NumVertsY - 1; j++)
{
indices.Write(j * NumVertsX + i);
indices.Write(j * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write(j * NumVertsX + i);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i);
}
}
indices.Dispose();
indexVertexArrays.AddIndexedMesh(mesh);
raycastBar = new RaycastBar(4000.0f, 0.0f);
//raycastBar = new RaycastBar(true, 40.0f, -50.0f, 50.0f);
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
for (int i = 0; i < 10; i++)
{
//CollisionShape colShape = new CapsuleShape(0.5f,2.0f);//boxShape = new SphereShape(1.0f);
Matrix startTransform = Matrix.Translation(2 * i, 10, 1);
LocalCreateRigidBody(1.0f, startTransform, colShape);
}
SetVertexPositions(waveHeight, 0.0f);
const bool useQuantizedAabbCompression = true;
groundShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
CollisionShapes.Add(groundShape);
staticBody = LocalCreateRigidBody(0.0f, Matrix.Identity, groundShape);
staticBody.CollisionFlags |= CollisionFlags.StaticObject;
staticBody.UserObject = "Ground";
}
public void AddIndexedMesh(IndexedMesh mesh, PHY_ScalarType indexType)
{
m_indexedMeshes.Add(mesh);
m_indexedMeshes[m_indexedMeshes.Count-1].m_indexType = indexType;
}
public void AddIndexedMesh(IndexedMesh indexedMesh)
{
_indexedMeshes.Add(indexedMesh);
}
public TriangleIndexVertexArray(int numTriangleIndices, int[] triangleIndexBase, int triangleIndexStride,
int numVertices, Vector3[] vertexBase, int vertexStride)
{
IndexedMesh mesh = new IndexedMesh();
mesh.TriangleCount = numTriangleIndices;
mesh.TriangleIndexBase = triangleIndexBase;
mesh.TriangleIndexStride = triangleIndexStride;
mesh.VertexBase = vertexBase;
mesh.VertexCount = numVertices;
mesh.VertexStride = vertexStride;
AddIndexedMesh(mesh);
}
// Create a sequence of flag objects and add them to the world.
void CreateFlag(int width, int height, out AlignedSoftBodyArray flags)
{
flags = new AlignedSoftBodyArray();
// First create a triangle mesh to represent a flag
// Allocate a simple mesh consisting of a vertex array and a triangle index array
IndexedMesh mesh = new IndexedMesh();
mesh.NumVertices = width * height;
mesh.NumTriangles = 2 * (width - 1) * (height - 1);
Vector3Array vertexArray = new Vector3Array(mesh.NumVertices);
mesh.Vertices = vertexArray;
mesh.VertexStride = Vector3.SizeInBytes;
IntArray triangleVertexIndexArray = new IntArray(3 * mesh.NumTriangles);
mesh.TriangleIndices = triangleVertexIndexArray;
mesh.TriangleIndexStride = sizeof(int) * 3;
// Generate normalised object space vertex coordinates for a rectangular flag
Matrix defaultScale = Matrix.Scaling(5, 20, 1);
for (int y = 0; y < height; ++y)
{
float yCoordinate = y * 2.0f / (float)height - 1.0f;
for (int x = 0; x < width; ++x)
{
float xCoordinate = x * 2.0f / (float)width - 1.0f;
Vector3 vertex = new Vector3(xCoordinate, yCoordinate, 0.0f);
vertexArray[y * width + x] = Vector3.TransformCoordinate(vertex, defaultScale);
}
}
// Generate vertex indices for triangles
for (int y = 0; y < (height - 1); ++y)
{
for (int x = 0; x < (width - 1); ++x)
{
// Triangle 0
// Top left of square on mesh
{
int vertex0 = y * width + x;
int vertex1 = vertex0 + 1;
int vertex2 = vertex0 + width;
int triangleIndex = 2 * (y * (width - 1) + x);
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex) / sizeof(int)] = vertex0;
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex + 1) / sizeof(int) + 1] = vertex1;
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex + 2) / sizeof(int) + 2] = vertex2;
}
// Triangle 1
// Bottom right of square on mesh
{
int vertex0 = y * width + x + 1;
int vertex1 = vertex0 + width;
int vertex2 = vertex1 - 1;
int triangleIndex = 2 * y * (width - 1) + 2 * x + 1;
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex) / sizeof(int)] = vertex0;
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex) / sizeof(int) + 1] = vertex1;
triangleVertexIndexArray[(mesh.TriangleIndexStride * triangleIndex) / sizeof(int) + 2] = vertex2;
}
}
}
Matrix defaultRotateAndScale = Matrix.RotationX(0.5f);
// Construct the sequence flags applying a slightly different translation to each one to arrange them
// appropriately in the scene.
for (int i = 0; i < numFlags; ++i)
{
float zTranslate = flagSpacing * (i - numFlags / 2);
Vector3 defaultTranslate = new Vector3(0, 20, zTranslate);
Matrix transform = defaultRotateAndScale * Matrix.Translation(defaultTranslate);
SoftBody softBody = CreateFromIndexedMesh(vertexArray, triangleVertexIndexArray, true);
for (int j = 0; j < mesh.NumVertices; ++j)
{
softBody.SetMass(j, 10.0f / mesh.NumVertices);
}
softBody.SetMass((height - 1) * width, 0);
softBody.SetMass((height - 1) * width + width - 1, 0);
softBody.SetMass((height - 1) * width + width / 2, 0);
softBody.Cfg.Collisions = FCollisions.CLSS | FCollisions.CLRS;
softBody.Cfg.LF = 0.0005f;
softBody.Cfg.VCF = 0.001f;
softBody.Cfg.DP = 0.0f;
softBody.Cfg.DG = 0.0f;
flags.Add(softBody);
softBody.Transform(transform);
SoftWorld.AddSoftBody(softBody);
}
//delete [] vertexArray;
//delete [] triangleVertexIndexArray;
}
protected override void OnInitializePhysics()
{
CollisionShape groundShape = new BoxShape(50, 3, 50);
CollisionShapes.Add(groundShape);
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Solver = new SequentialImpulseConstraintSolver();
Vector3 worldMin = new Vector3(-10000, -10000, -10000);
Vector3 worldMax = new Vector3(10000, 10000, 10000);
Broadphase = new AxisSweep3(worldMin, worldMax);
//Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
int i;
Matrix tr;
Matrix vehicleTr;
//if (UseTrimeshGround)
{
const float scale = 20.0f;
//create a triangle-mesh ground
const int NumVertsX = 20;
const int NumVertsY = 20;
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
TriangleIndexVertexArray vertexArray = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.Allocate(totalTriangles, totalVerts);
mesh.NumTriangles = totalTriangles;
mesh.NumVertices = totalVerts;
mesh.TriangleIndexStride = 3 * sizeof(int);
mesh.VertexStride = Vector3.SizeInBytes;
using (var indicesStream = mesh.GetTriangleStream())
{
var indices = new BinaryWriter(indicesStream);
for (i = 0; i < NumVertsX - 1; i++)
{
for (int j = 0; j < NumVertsY - 1; j++)
{
indices.Write(j * NumVertsX + i);
indices.Write(j * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write(j * NumVertsX + i);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i);
}
}
indices.Dispose();
}
using (var vertexStream = mesh.GetVertexStream())
{
var vertices = new BinaryWriter(vertexStream);
for (i = 0; i < NumVertsX; i++)
{
for (int j = 0; j < NumVertsY; j++)
{
float wl = .2f;
float height = 20.0f * (float)(Math.Sin(i * wl) * Math.Cos(j * wl));
vertices.Write((i - NumVertsX * 0.5f) * scale);
vertices.Write(height);
vertices.Write((j - NumVertsY * 0.5f) * scale);
}
}
vertices.Dispose();
}
vertexArray.AddIndexedMesh(mesh);
groundShape = new BvhTriangleMeshShape(vertexArray, true);
tr = Matrix.Identity;
vehicleTr = Matrix.Translation(0, -2, 0);
}/*
* else
* {
* // Use HeightfieldTerrainShape
*
* int width = 40, length = 40;
* //int width = 128, length = 128; // Debugging is too slow for this
* float maxHeight = 10.0f;
* float heightScale = maxHeight / 256.0f;
* Vector3 scale = new Vector3(20.0f, maxHeight, 20.0f);
*
* //PhyScalarType scalarType = PhyScalarType.PhyUChar;
* //FileStream file = new FileStream(heightfieldFile, FileMode.Open, FileAccess.Read);
*
* // Use float data
* PhyScalarType scalarType = PhyScalarType.PhyFloat;
* byte[] terr = new byte[width * length * 4];
* MemoryStream file = new MemoryStream(terr);
* BinaryWriter writer = new BinaryWriter(file);
* for (i = 0; i < width; i++)
* for (int j = 0; j < length; j++)
* writer.Write((float)((maxHeight / 2) + 4 * Math.Sin(j * 0.5f) * Math.Cos(i)));
* writer.Flush();
* file.Position = 0;
*
* HeightfieldTerrainShape heightterrainShape = new HeightfieldTerrainShape(width, length,
* file, heightScale, 0, maxHeight, upIndex, scalarType, false);
* heightterrainShape.SetUseDiamondSubdivision(true);
*
* groundShape = heightterrainShape;
* groundShape.LocalScaling = new Vector3(scale.X, 1, scale.Z);
*
* tr = Matrix.Translation(new Vector3(-scale.X / 2, scale.Y / 2, -scale.Z / 2));
* vehicleTr = Matrix.Translation(new Vector3(20, 3, -3));
*
*
* // Create graphics object
*
* file.Position = 0;
* BinaryReader reader = new BinaryReader(file);
*
* int totalTriangles = (width - 1) * (length - 1) * 2;
* int totalVerts = width * length;
*
* game.groundMesh = new Mesh(game.Device, totalTriangles, totalVerts,
* MeshFlags.SystemMemory | MeshFlags.Use32Bit, VertexFormat.Position | VertexFormat.Normal);
* SlimDX.DataStream data = game.groundMesh.LockVertexBuffer(LockFlags.None);
* for (i = 0; i < width; i++)
* {
* for (int j = 0; j < length; j++)
* {
* float height;
* if (scalarType == PhyScalarType.PhyFloat)
* {
* // heightScale isn't applied internally for float data
* height = reader.ReadSingle();
* }
* else if (scalarType == PhyScalarType.PhyUChar)
* {
* height = file.ReadByte() * heightScale;
* }
* else
* {
* height = 0.0f;
* }
*
* data.Write((j - length * 0.5f) * scale.X);
* data.Write(height);
* data.Write((i - width * 0.5f) * scale.Z);
*
* // Normals will be calculated later
* data.Position += 12;
* }
* }
* game.groundMesh.UnlockVertexBuffer();
* file.Close();
*
* data = game.groundMesh.LockIndexBuffer(LockFlags.None);
* for (i = 0; i < width - 1; i++)
* {
* for (int j = 0; j < length - 1; j++)
* {
* // Using diamond subdivision
* if ((j + i) % 2 == 0)
* {
* data.Write(j * width + i);
* data.Write((j + 1) * width + i + 1);
* data.Write(j * width + i + 1);
*
* data.Write(j * width + i);
* data.Write((j + 1) * width + i);
* data.Write((j + 1) * width + i + 1);
* }
* else
* {
* data.Write(j * width + i);
* data.Write((j + 1) * width + i);
* data.Write(j * width + i + 1);
*
* data.Write(j * width + i + 1);
* data.Write((j + 1) * width + i);
* data.Write((j + 1) * width + i + 1);
* }
*
* / *
* // Not using diamond subdivision
* data.Write(j * width + i);
* data.Write((j + 1) * width + i);
* data.Write(j * width + i + 1);
*
* data.Write(j * width + i + 1);
* data.Write((j + 1) * width + i);
* data.Write((j + 1) * width + i + 1);
* /
* }
* }
* game.groundMesh.UnlockIndexBuffer();
*
* game.groundMesh.ComputeNormals();
* }*/
CollisionShapes.Add(groundShape);
RigidBody ground = LocalCreateRigidBody(0, tr, groundShape);
ground.UserObject = "Ground";
CreateVehicle(vehicleTr);
}
private void CreateTrimeshGround()
{
const float scale = 20.0f;
//create a triangle-mesh ground
const int NumVertsX = 20;
const int NumVertsY = 20;
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
_groundVertexArray = new TriangleIndexVertexArray();
_groundMesh = new IndexedMesh();
_groundMesh.Allocate(totalTriangles, totalVerts);
_groundMesh.NumTriangles = totalTriangles;
_groundMesh.NumVertices = totalVerts;
_groundMesh.TriangleIndexStride = 3 * sizeof(int);
_groundMesh.VertexStride = Vector3.SizeInBytes;
using (var indicesStream = _groundMesh.GetTriangleStream())
{
var indices = new BinaryWriter(indicesStream);
for (int i = 0; i < NumVertsX - 1; i++)
{
for (int j = 0; j < NumVertsY - 1; j++)
{
indices.Write(j * NumVertsX + i);
indices.Write(j * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write(j * NumVertsX + i);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i);
}
}
indices.Dispose();
}
using (var vertexStream = _groundMesh.GetVertexStream())
{
var vertices = new BinaryWriter(vertexStream);
for (int i = 0; i < NumVertsX; i++)
{
for (int j = 0; j < NumVertsY; j++)
{
const float waveLength = .2f;
float height = (float)(Math.Sin(i * waveLength) * Math.Cos(j * waveLength));
vertices.Write(i - NumVertsX * 0.5f);
vertices.Write(height);
vertices.Write(j - NumVertsY * 0.5f);
}
}
vertices.Dispose();
}
_groundVertexArray.AddIndexedMesh(_groundMesh);
var groundShape = new BvhTriangleMeshShape(_groundVertexArray, true);
var groundScaled = new ScaledBvhTriangleMeshShape(groundShape, new Vector3(scale));
RigidBody ground = PhysicsHelper.CreateStaticBody(Matrix.Identity, groundScaled, World);
ground.UserObject = "Ground";
Matrix vehicleTransform = Matrix.Translation(0, -2, 0);
CreateVehicle(vehicleTransform);
}
public Physics(VehicleDemo game)
{
CollisionShape groundShape = new BoxShape(50, 3, 50);
CollisionShapes.Add(groundShape);
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Solver = new SequentialImpulseConstraintSolver();
Vector3 worldMin = new Vector3(-10000, -10000, -10000);
Vector3 worldMax = new Vector3(10000, 10000, 10000);
Broadphase = new AxisSweep3(worldMin, worldMax);
//Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
int i;
Matrix tr;
Matrix vehicleTr;
if (UseTrimeshGround)
{
const float scale = 20.0f;
//create a triangle-mesh ground
int vertStride = Vector3.SizeInBytes;
int indexStride = 3 * sizeof(int);
const int NUM_VERTS_X = 20;
const int NUM_VERTS_Y = 20;
const int totalVerts = NUM_VERTS_X * NUM_VERTS_Y;
const int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);
TriangleIndexVertexArray vertexArray = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.Allocate(totalVerts, vertStride, totalTriangles, indexStride, PhyScalarType.Int32, PhyScalarType.Single);
BulletSharp.DataStream data = mesh.LockVerts();
for (i = 0; i < NUM_VERTS_X; i++)
{
for (int j = 0; j < NUM_VERTS_Y; j++)
{
float wl = .2f;
float height = 20.0f * (float)(Math.Sin(i * wl) * Math.Cos(j * wl));
data.Write((i - NUM_VERTS_X * 0.5f) * scale);
data.Write(height);
data.Write((j - NUM_VERTS_Y * 0.5f) * scale);
}
}
int index = 0;
IntArray idata = mesh.TriangleIndices;
for (i = 0; i < NUM_VERTS_X - 1; i++)
{
for (int j = 0; j < NUM_VERTS_Y - 1; j++)
{
idata[index++] = j * NUM_VERTS_X + i;
idata[index++] = j * NUM_VERTS_X + i + 1;
idata[index++] = (j + 1) * NUM_VERTS_X + i + 1;
idata[index++] = j * NUM_VERTS_X + i;
idata[index++] = (j + 1) * NUM_VERTS_X + i + 1;
idata[index++] = (j + 1) * NUM_VERTS_X + i;
}
}
vertexArray.AddIndexedMesh(mesh);
groundShape = new BvhTriangleMeshShape(vertexArray, true);
tr = Matrix.Identity;
vehicleTr = Matrix.Translation(0, -2, 0);
}
else
{
// Use HeightfieldTerrainShape
int width = 40, length = 40;
//int width = 128, length = 128; // Debugging is too slow for this
float maxHeight = 10.0f;
float heightScale = maxHeight / 256.0f;
Vector3 scale = new Vector3(20.0f, maxHeight, 20.0f);
//PhyScalarType scalarType = PhyScalarType.PhyUChar;
//FileStream file = new FileStream(heightfieldFile, FileMode.Open, FileAccess.Read);
// Use float data
PhyScalarType scalarType = PhyScalarType.Single;
byte[] terr = new byte[width * length * 4];
MemoryStream file = new MemoryStream(terr);
BinaryWriter writer = new BinaryWriter(file);
for (i = 0; i < width; i++)
{
for (int j = 0; j < length; j++)
{
writer.Write((float)((maxHeight / 2) + 4 * Math.Sin(j * 0.5f) * Math.Cos(i)));
}
}
writer.Flush();
file.Position = 0;
HeightfieldTerrainShape heightterrainShape = new HeightfieldTerrainShape(width, length,
file, heightScale, 0, maxHeight, upIndex, scalarType, false);
heightterrainShape.SetUseDiamondSubdivision(true);
groundShape = heightterrainShape;
groundShape.LocalScaling = new Vector3(scale.X, 1, scale.Z);
tr = Matrix.Translation(new Vector3(-scale.X / 2, scale.Y / 2, -scale.Z / 2));
vehicleTr = Matrix.Translation(new Vector3(20, 3, -3));
// Create graphics object
file.Position = 0;
BinaryReader reader = new BinaryReader(file);
int totalTriangles = (width - 1) * (length - 1) * 2;
int totalVerts = width * length;
game.groundMesh = new Mesh(game.Device, totalTriangles, totalVerts,
MeshFlags.SystemMemory | MeshFlags.Use32Bit, VertexFormat.Position | VertexFormat.Normal);
SlimDX.DataStream data = game.groundMesh.LockVertexBuffer(LockFlags.None);
for (i = 0; i < width; i++)
{
for (int j = 0; j < length; j++)
{
float height;
if (scalarType == PhyScalarType.Single)
{
// heightScale isn't applied internally for float data
height = reader.ReadSingle();
}
else if (scalarType == PhyScalarType.Byte)
{
height = file.ReadByte() * heightScale;
}
else
{
height = 0.0f;
}
data.Write((j - length * 0.5f) * scale.X);
data.Write(height);
data.Write((i - width * 0.5f) * scale.Z);
// Normals will be calculated later
data.Position += 12;
}
}
game.groundMesh.UnlockVertexBuffer();
file.Close();
data = game.groundMesh.LockIndexBuffer(LockFlags.None);
for (i = 0; i < width - 1; i++)
{
for (int j = 0; j < length - 1; j++)
{
// Using diamond subdivision
if ((j + i) % 2 == 0)
{
data.Write(j * width + i);
data.Write((j + 1) * width + i + 1);
data.Write(j * width + i + 1);
data.Write(j * width + i);
data.Write((j + 1) * width + i);
data.Write((j + 1) * width + i + 1);
}
else
{
data.Write(j * width + i);
data.Write((j + 1) * width + i);
data.Write(j * width + i + 1);
data.Write(j * width + i + 1);
data.Write((j + 1) * width + i);
data.Write((j + 1) * width + i + 1);
}
/*
* // Not using diamond subdivision
* data.Write(j * width + i);
* data.Write((j + 1) * width + i);
* data.Write(j * width + i + 1);
*
* data.Write(j * width + i + 1);
* data.Write((j + 1) * width + i);
* data.Write((j + 1) * width + i + 1);
*/
}
}
game.groundMesh.UnlockIndexBuffer();
game.groundMesh.ComputeNormals();
}
CollisionShapes.Add(groundShape);
//create ground object
RigidBody ground = LocalCreateRigidBody(0, tr, groundShape);
ground.UserObject = "Ground";
CollisionShape chassisShape = new BoxShape(1.0f, 0.5f, 2.0f);
CollisionShapes.Add(chassisShape);
CompoundShape compound = new CompoundShape();
CollisionShapes.Add(compound);
//localTrans effectively shifts the center of mass with respect to the chassis
Matrix localTrans = Matrix.Translation(Vector3.UnitY);
compound.AddChildShape(localTrans, chassisShape);
RigidBody carChassis = LocalCreateRigidBody(800, Matrix.Identity, compound);
carChassis.UserObject = "Chassis";
//carChassis.SetDamping(0.2f, 0.2f);
//CylinderShapeX wheelShape = new CylinderShapeX(wheelWidth, wheelRadius, wheelRadius);
// clientResetScene();
// create vehicle
RaycastVehicle.VehicleTuning tuning = new RaycastVehicle.VehicleTuning();
IVehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(World);
vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
carChassis.ActivationState = ActivationState.DisableDeactivation;
World.AddAction(vehicle);
float connectionHeight = 1.2f;
bool isFrontWheel = true;
// choose coordinate system
vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
Vector3 connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
WheelInfo a = vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
isFrontWheel = false;
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
for (i = 0; i < vehicle.NumWheels; i++)
{
WheelInfo wheel = vehicle.GetWheelInfo(i);
wheel.SuspensionStiffness = suspensionStiffness;
wheel.WheelsDampingRelaxation = suspensionDamping;
wheel.WheelsDampingCompression = suspensionCompression;
wheel.FrictionSlip = wheelFriction;
wheel.RollInfluence = rollInfluence;
}
vehicle.RigidBody.WorldTransform = vehicleTr;
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Vector3 worldMin = new Vector3(-1000, -1000, -1000);
Vector3 worldMax = new Vector3(1000, 1000, 1000);
Broadphase = new AxisSweep3(worldMin, worldMax);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SplitImpulse = 1;
World.Gravity = new Vector3(0, -10, 0);
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
indexVertexArrays = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.Allocate(totalTriangles, totalVerts, 3 * sizeof(int), Vector3.SizeInBytes, PhyScalarType.Int32, PhyScalarType.Single);
DataStream indices = mesh.LockIndices();
for (int i = 0; i < NumVertsX - 1; i++)
{
for (int j = 0; j < NumVertsY - 1; j++)
{
indices.Write(j * NumVertsX + i);
indices.Write(j * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write(j * NumVertsX + i);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i);
}
}
indices.Dispose();
indexVertexArrays.AddIndexedMesh(mesh);
convexcastBatch = new ConvexcastBatch(40.0f, 0.0f, -10.0f, 80.0f);
//convexcastBatch = new ConvexcastBatch(true, 40.0f, -50.0f, 50.0f);
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
for (int j = 0; j < NumDynamicBoxesX; j++)
{
for (int i = 0; i < NumDynamicBoxesY; i++)
{
//CollisionShape colShape = new CapsuleShape(0.5f,2.0f);//boxShape = new SphereShape(1.0f);
Matrix startTransform = Matrix.Translation(5 * (i - NumDynamicBoxesX / 2), 10, 5 * (j - NumDynamicBoxesY / 2));
LocalCreateRigidBody(1.0f, startTransform, colShape);
}
}
SetVertexPositions(WaveHeight, 0.0f);
const bool useQuantizedAabbCompression = true;
groundShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
CollisionShapes.Add(groundShape);
staticBody = LocalCreateRigidBody(0.0f, Matrix.Identity, groundShape);
staticBody.CollisionFlags |= CollisionFlags.StaticObject;
staticBody.UserObject = "Ground";
}
