public static void CreateShapes(Demo demo, PhysicsScene scene)
{
TriangleMesh triangleMesh = null;
ShapePrimitive shapePrimitive = null;
Shape shape = null;
shapePrimitive = scene.Factory.ShapePrimitiveManager.Create("CapsuleY1");
shapePrimitive.CreateCapsuleY(1.5f, 1.0f);
shape = scene.Factory.ShapeManager.Create("CapsuleY1");
shape.Set(shapePrimitive, Matrix4.Identity, 0.0f);
shapePrimitive = scene.Factory.ShapePrimitiveManager.Create("CapsuleY2");
shapePrimitive.CreateCapsuleY(2.0f, 0.5f);
shape = scene.Factory.ShapeManager.Create("CapsuleY2");
shape.Set(shapePrimitive, Matrix4.Identity, 0.0f);
shapePrimitive = scene.Factory.ShapePrimitiveManager.Create("CapsuleY3");
shapePrimitive.CreateCapsuleY(2.5f, 0.5f);
shape = scene.Factory.ShapeManager.Create("CapsuleY3");
shape.Set(shapePrimitive, Matrix4.Identity, 0.0f);
triangleMesh = scene.Factory.TriangleMeshManager.Create("CapsuleY1");
triangleMesh.CreateCapsuleY(10, 15, 1.5f, 1.0f);
if (!demo.Meshes.ContainsKey("CapsuleY1"))
{
demo.Meshes.Add("CapsuleY1", new DemoMesh(demo, triangleMesh, demo.Textures["Default"], Vector2.One, true, true, true, false, true, CullFaceMode.Back, false, false));
}
triangleMesh = scene.Factory.TriangleMeshManager.Create("CapsuleY2");
triangleMesh.CreateCapsuleY(10, 15, 2.0f, 0.5f);
if (!demo.Meshes.ContainsKey("CapsuleY2"))
{
demo.Meshes.Add("CapsuleY2", new DemoMesh(demo, triangleMesh, demo.Textures["Default"], Vector2.One, true, true, true, false, true, CullFaceMode.Back, false, false));
}
triangleMesh = scene.Factory.TriangleMeshManager.Create("CapsuleY3");
triangleMesh.CreateCapsuleY(10, 15, 2.5f, 0.5f);
if (!demo.Meshes.ContainsKey("CapsuleY3"))
{
demo.Meshes.Add("CapsuleY3", new DemoMesh(demo, triangleMesh, demo.Textures["Default"], Vector2.One, true, true, true, false, true, CullFaceMode.Back, false, false));
}
}
/// <summary>
///
/// </summary>
/// <remarks>
/// For all of the shapes that has directions (e.g., Cylinder, Hemisphere), Y direction is
/// used, so if you would like it to face other directions, use MataliObject.ShapeOriginalMatrix
/// to orient them.
///
/// For a cylinder with different bottom and top radius, IPhysicsObject.ShapeData are used.
/// ShapeData[0] - bottom radius, ShapeData[1] - height, ShapeData[2] = top radius
///
/// For Compound shape, an additional information can be set by using
/// MataliObject.CompoundShape.
///
/// For additional shape types such as Heightmap, Point, and so on, set Shape to ShapeType.Extra
/// and define MataliObject.ExtraShape.
/// </remarks>
/// <param name="mataliPhysicsObj"></param>
/// <param name="physObj"></param>
private void SetShape(MataliPhysicsObject mataliPhysicsObj, IPhysicsObject physObj)
{
Vector3 boundingBox = Vector3.Zero;
if (physObj.Model != null)
{
boundingBox = Vector3Helper.GetDimensions(physObj.Model.MinimumBoundingBox);
}
Vector3 size = Vector3.Zero;
MataliObject mataliObj = null;
if (physObj is MataliObject)
{
mataliObj = (MataliObject)physObj;
}
switch (physObj.Shape)
{
case ShapeType.Box:
if (physObj.ShapeData.Count == 3)
{
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
}
else
{
size = boundingBox;
}
size /= 2;
break;
case ShapeType.Sphere:
if (physObj.ShapeData.Count == 1)
{
size = new Vector3(physObj.ShapeData[0], 0, 0);
}
else
{
size = boundingBox / 2;
}
break;
case ShapeType.Cone:
case ShapeType.Cylinder:
case ShapeType.Capsule:
if (physObj.ShapeData.Count == 2)
{
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[0]);
}
else if (physObj.ShapeData.Count == 3)
{
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
}
else
{
size = new Vector3(boundingBox.X / 2, boundingBox.Y, boundingBox.X / 2);
}
break;
case ShapeType.Compound:
// size is used solely for naming, not used for the collision shape
size = new Vector3(physObj.ShapeData.Count, physObj.ShapeData[0],
physObj.ShapeData[physObj.ShapeData.Count - 1]);
break;
case ShapeType.ConvexHull:
// size is used solely for naming, not used for the collision shape
size = new Vector3(physObj.MeshProvider.Vertices.Count,
physObj.MeshProvider.Indices.Count, physObj.MeshProvider.Vertices[0].X);
break;
case ShapeType.Extra:
if (mataliObj == null)
{
throw new GoblinException("For extra shape type, you need to define the 'physObj' " +
"as MataliObject instance");
}
if (mataliObj.ExtraShape == ExtraShapeType.Undefined)
{
throw new GoblinException("Undefined type is not allowed if Extra shape type is specified");
}
// size is used solely for naming, not used for the collision shape
switch (mataliObj.ExtraShape)
{
case ExtraShapeType.Point:
if (physObj.ShapeData.Count != 3)
{
throw new GoblinException("For Point shape type, you need to specify the position (x,y,z) in ShapeData");
}
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
break;
case ExtraShapeType.Heightmap:
if (physObj.ShapeData.Count < 2)
{
throw new GoblinException("There needs to be at least two floats specifying the " +
"width and height");
}
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData.Count);
break;
case ExtraShapeType.Edge:
if (physObj.ShapeData.Count != 6)
{
throw new GoblinException("For Edge shape type, you need to specify the start and " +
"end positions (x,y,z) in ShapeData");
}
size = new Vector3(physObj.ShapeData[0] + physObj.ShapeData[3],
physObj.ShapeData[1] + physObj.ShapeData[4],
physObj.ShapeData[2] + physObj.ShapeData[5]);
break;
default:
throw new GoblinException(mataliObj.ExtraShape.ToString() + " not implemented yet");
}
break;
}
String shapeName = physObj.Shape.ToString() + size.ToString();
String primitiveName = physObj.Shape.ToString() + size.ToString();
if (mataliObj != null)
{
String suffix = "";
if (physObj.Shape == ShapeType.Extra)
{
suffix += mataliObj.ExtraShape.ToString();
}
else if (physObj.Shape == ShapeType.Compound)
{
suffix += mataliObj.CompoundShape.ToString();
}
suffix += mataliObj.ShapeOriginalMatrix.ToString();
suffix += mataliObj.ShapeCollisionMargin;
shapeName += suffix;
primitiveName += suffix;
}
Shape shape = null;
ShapePrimitive primitive = null;
if (scene.Factory.ShapeManager.Contains(shapeName))
{
shape = scene.Factory.ShapeManager.Find(shapeName);
}
else
{
if (physObj.Shape != ShapeType.Compound)
{
primitive = scene.Factory.ShapePrimitiveManager.Create(primitiveName);
}
shape = scene.Factory.ShapeManager.Create(shapeName);
bool shapeSet = false;
switch (physObj.Shape)
{
case ShapeType.Box:
primitive.CreateBox(size.X, size.Y, size.Z);
break;
case ShapeType.Sphere:
primitive.CreateSphere(size.X);
break;
case ShapeType.Cone:
primitive.CreateConeY(size.Y, size.X);
break;
case ShapeType.Cylinder:
if (size.X != size.Z)
{
primitive.CreateCylinder2RY(size.Y, size.X, size.Z);
}
else
{
primitive.CreateCylinderY(size.Y, size.X);
}
break;
case ShapeType.Capsule:
primitive.CreateCapsuleY(size.Y - size.X * 2, size.X);
break;
case ShapeType.Compound:
ShapeCompoundType type = ShapeCompoundType.ConvexHull;
if (mataliObj != null)
{
if (mataliObj.CompoundShape == CompoundShapeType.MinkowskiSum)
{
type = ShapeCompoundType.MinkowskiSum;
}
}
int dataIndex = 0;
Shape compoundShapePart = null;
ShapePrimitive compoundPrimitive = null;
float[] matrixVals = new float[16];
while (dataIndex < physObj.ShapeData.Count)
{
ShapeType shapeType = (ShapeType)Enum.ToObject(typeof(ShapeType), (int)physObj.ShapeData[dataIndex++]);
switch (shapeType)
{
case ShapeType.Cylinder:
size = new Vector3(physObj.ShapeData[dataIndex], physObj.ShapeData[dataIndex + 1],
physObj.ShapeData[dataIndex]);
dataIndex += 2;
break;
case ShapeType.Sphere:
size = new Vector3(physObj.ShapeData[dataIndex], 0, 0);
dataIndex++;
break;
}
shapeName = shapeType.ToString() + size.ToString();
primitiveName = shapeType.ToString() + size.ToString();
if (scene.Factory.ShapeManager.Contains(shapeName))
{
compoundShapePart = scene.Factory.ShapeManager.Find(shapeName);
}
else
{
compoundPrimitive = scene.Factory.ShapePrimitiveManager.Create(primitiveName);
compoundShapePart = scene.Factory.ShapeManager.Create(shapeName);
switch (shapeType)
{
case ShapeType.Cylinder:
compoundPrimitive.CreateCylinderY(size.Y, size.X);
break;
case ShapeType.Sphere:
compoundPrimitive.CreateSphere(size.X);
break;
default:
throw new GoblinException(shape.ToString() + " is not supported yet as a compound part");
}
compoundShapePart.Set(compoundPrimitive, Matrix.Identity, 0.0f);
}
for (int i = 0; i < 16; ++i)
{
matrixVals[i] = physObj.ShapeData[dataIndex + i];
}
dataIndex += 16;
shape.Add(compoundShapePart, MatrixHelper.FloatsToMatrix(matrixVals), 0.0f, type);
}
float margin = 0.0f;
if (mataliObj != null)
{
margin = mataliObj.ShapeCollisionMargin;
}
shape.CreateMesh(margin);
shapeSet = true;
break;
case ShapeType.ConvexHull:
case ShapeType.TriangleMesh:
float[] frictions = null;
float[] restitutions = null;
if (physObj.Shape == ShapeType.ConvexHull)
{
primitive.CreateConvex(physObj.MeshProvider.Vertices);
}
else
{
int triangleCount = physObj.MeshProvider.Indices.Count / 3;
frictions = new float[triangleCount];
restitutions = new float[triangleCount];
for (int i = 0; i < frictions.Length; i++)
{
frictions[i] = 1.0f;
restitutions[i] = 0.0f;
}
Vector3[] triVerts = new Vector3[physObj.MeshProvider.Indices.Count];
for (int i = 0; i < triVerts.Length; ++i)
{
triVerts[i] = physObj.MeshProvider.Vertices[physObj.MeshProvider.Indices[i]];
}
bool flipTriangle = (physObj is MataliObject) ? ((MataliObject)physObj).FlipTriangleOrder : true;
primitive.CreateTriangleMesh(triVerts, flipTriangle, 2, frictions, restitutions, 1.0f, 0.0f);
}
break;
case ShapeType.Extra:
switch (mataliObj.ExtraShape)
{
case ExtraShapeType.Heightmap:
int width = (int)physObj.ShapeData[0];
int height = (int)physObj.ShapeData[1];
float[] heightData = new float[height * width];
float[] heightFrictions = new float[height * width];
float[] heightRestituions = new float[height * width];
if (physObj.ShapeData.Count < (2 + heightData.Length))
{
throw new GoblinException("You also need to specify the hegith map data");
}
Buffer.BlockCopy(physObj.ShapeData.ToArray(), 2 * sizeof(float), heightData, 0,
heightData.Length * sizeof(float));
if (physObj.ShapeData.Count > (2 + heightData.Length * 2))
{
Buffer.BlockCopy(physObj.ShapeData.ToArray(), (2 + heightData.Length) * sizeof(float),
heightFrictions, 0, heightFrictions.Length * sizeof(float));
}
else
{
for (int i = 0; i < heightFrictions.Length; ++i)
{
heightFrictions[i] = mataliObj.TriangleMeshFriction;
}
}
if (physObj.ShapeData.Count > (2 + heightData.Length * 3))
{
Buffer.BlockCopy(physObj.ShapeData.ToArray(), (2 + heightData.Length * 2) * sizeof(float),
heightRestituions, 0, heightRestituions.Length * sizeof(float));
}
else
{
for (int i = 0; i < heightRestituions.Length; ++i)
{
heightRestituions[i] = mataliObj.TriangleMeshRestitution;
}
}
primitive.CreateHeightmap(0, 0, width, height, width, height, heightData, heightFrictions, heightRestituions,
mataliObj.TriangleMeshFriction, mataliObj.TriangleMeshRestitution, mataliObj.IsDynamic);
shape.Set(primitive, mataliObj.ShapeOriginalMatrix, mataliObj.ShapeCollisionMargin);
shape.CreateMesh(0.0f);
shapeSet = true;
mataliPhysicsObj.InternalControllers.CreateHeightmapController(true);
break;
case ExtraShapeType.Point:
primitive.CreatePoint(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
break;
case ExtraShapeType.Edge:
primitive.CreateEdge(new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]),
new Vector3(physObj.ShapeData[3], physObj.ShapeData[4], physObj.ShapeData[5]));
break;
case ExtraShapeType.Plane:
primitive.CreatePlaneY(physObj.ShapeData[0], (physObj.ShapeData[1] > 0));
break;
case ExtraShapeType.Triangle:
primitive.CreateTriangle(
new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]),
new Vector3(physObj.ShapeData[3], physObj.ShapeData[4], physObj.ShapeData[5]),
new Vector3(physObj.ShapeData[6], physObj.ShapeData[7], physObj.ShapeData[8]));
break;
case ExtraShapeType.Tetrahedron:
primitive.CreateTetrahedron(
new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]),
new Vector3(physObj.ShapeData[3], physObj.ShapeData[4], physObj.ShapeData[5]),
new Vector3(physObj.ShapeData[6], physObj.ShapeData[7], physObj.ShapeData[8]),
new Vector3(physObj.ShapeData[9], physObj.ShapeData[10], physObj.ShapeData[11]));
break;
case ExtraShapeType.Fluid:
break;
case ExtraShapeType.Hemisphere:
primitive.CreateHemisphereY(physObj.ShapeData[0]);
break;
}
break;
}
if (!shapeSet)
{
if (mataliObj != null)
{
shape.Set(primitive, mataliObj.ShapeOriginalMatrix, mataliObj.ShapeCollisionMargin);
}
else
{
shape.Set(primitive, Matrix.Identity, 0.0f);
}
if (buildCollisionMesh)
{
float margin = 0.0f;
if (mataliObj != null)
{
margin = mataliObj.ShapeCollisionMargin;
}
shape.CreateMesh(margin);
}
}
}
mataliPhysicsObj.Shape = shape;
}
