public override bool Run()
{
ISimulationDataPhysicsConvexStorageInterface m_PhysicsStorage = SimulationData.PhysicsConvexShapes;
var shape = new PhysicsConvexShape();
var hull = new PhysicsConvexShape.ConvexHull();
hull.Vertices.Add(Vector3.UnitX);
hull.Vertices.Add(Vector3.UnitY);
hull.Vertices.Add(Vector3.UnitZ);
hull.Triangles.Add(0);
hull.Triangles.Add(1);
hull.Triangles.Add(2);
shape.Hulls.Add(hull);
var shapeKey = new ObjectPart.PrimitiveShape();
PhysicsConvexShape test;
m_Log.Info("Testing non-existence 1");
if (m_PhysicsStorage.ContainsKey(shapeKey))
{
return(false);
}
m_Log.Info("Testing non-existence 2");
if (m_PhysicsStorage.TryGetValue(shapeKey, out test))
{
return(false);
}
m_Log.Info("Testing non-existence 3");
try
{
shape = m_PhysicsStorage[shapeKey];
return(false);
}
catch (KeyNotFoundException)
{
/* we should see this one */
}
m_Log.Info("Testing non-existence 4");
if (m_PhysicsStorage.Remove(shapeKey))
{
return(false);
}
m_Log.Info("Create physics convex shape");
m_PhysicsStorage[shapeKey] = shape;
m_Log.Info("Testing existence 1");
if (!m_PhysicsStorage.ContainsKey(shapeKey))
{
return(false);
}
m_Log.Info("Testing existence 2");
if (!m_PhysicsStorage.TryGetValue(shapeKey, out test))
{
return(false);
}
m_Log.Info("Testing equality");
if (!test.SerializedData.SequenceEqual(shape.SerializedData))
{
return(false);
}
m_Log.Info("Testing existence 3");
shape = m_PhysicsStorage[shapeKey];
m_Log.Info("Testing equality");
if (!test.SerializedData.SequenceEqual(shape.SerializedData))
{
return(false);
}
m_Log.Info("Testing existence 4");
if (!m_PhysicsStorage.Remove(shapeKey))
{
return(false);
}
return(true);
}
public PhysicsConvexShape Compute(MeshLOD m, bool useSingleConvex = false)
{
if (m_VHacd == IntPtr.Zero)
{
throw new ObjectDisposedException("VHACD");
}
var points = new double[m.Vertices.Count * 3];
var tris = new int[m.Triangles.Count * 3];
int idx = 0;
int vertices = m.Vertices.Count;
foreach (Vector3 v in m.Vertices)
{
points[idx++] = v.X;
points[idx++] = v.Y;
points[idx++] = v.Z;
}
idx = 0;
foreach (Triangle t in m.Triangles)
{
tris[idx++] = t.Vertex1;
tris[idx++] = t.Vertex2;
tris[idx++] = t.Vertex3;
if (t.Vertex1 >= vertices || t.Vertex2 >= vertices || t.Vertex3 >= vertices)
{
throw new InputDataException("Invalid triangle found");
}
}
if (idx == 0)
{
throw new InputDataException("No triangles found");
}
Parameters p = Parameters.Defaults;
if (useSingleConvex)
{
p.Depth = 0;
}
if (!VHacd_Compute(m_VHacd, points, 3, (uint)m.Vertices.Count, tris, 3, (uint)m.Triangles.Count, ref p))
{
throw new InputDataException("Decompose failed");
}
var shape = new PhysicsConvexShape();
int numhulls = VHacd_GetNConvexHulls(m_VHacd);
for (uint hullidx = 0; hullidx < numhulls; ++hullidx)
{
var hull = new ConvexHull();
VHacd_GetConvexHull(m_VHacd, hullidx, ref hull);
var resPoints = new double[hull.NumPoints * 3];
Marshal.Copy(hull.Points, resPoints, 0, hull.NumPoints * 3);
var resTris = new int[hull.NumTriangles * 3];
Marshal.Copy(hull.Triangles, resTris, 0, hull.NumTriangles * 3);
var cHull = new PhysicsConvexShape.ConvexHull();
for (int vertidx = 0; vertidx < hull.NumPoints * 3; vertidx += 3)
{
cHull.Vertices.Add(new Vector3(
resPoints[vertidx + 0],
resPoints[vertidx + 1],
resPoints[vertidx + 2]));
}
int vCount = cHull.Vertices.Count;
for (int triidx = 0; triidx < hull.NumTriangles * 3; ++triidx)
{
int tri = resTris[triidx];
if (tri >= vCount || tri < 0)
{
m_Log.ErrorFormat("Tri Index out of range");
throw new InputDataException("Tri index out of range");
}
cHull.Triangles.Add(resTris[triidx]);
}
shape.Hulls.Add(cHull);
}
return(shape);
}
