public void UpdateSoftBody(SoftBody softBody, ShapeData shapeData)
{
// Could just allocate a Vector3 array here at each frame, but reusing shapeData.SoftBodyData is faster.
// Probably uses more memory though.
softBody.GetVertexNormalData(out shapeData.SoftBodyData);
shapeData.SetDynamicVertexBuffer(device, shapeData.SoftBodyData);
if (softBody.Faces.Count == 0 && softBody.Tetras.Count == 0)
{
shapeData.PrimitiveTopology = PrimitiveTopology.LineList;
}
}
/*
Mesh CreateStaticPlaneShape(StaticPlaneShape shape)
{
// Load shader
if (planeShader == null)
{
Assembly assembly = Assembly.GetExecutingAssembly();
Stream shaderStream = assembly.GetManifestResourceStream("DemoFramework.checker_shader.fx");
planeShader = Effect.FromStream(device, shaderStream, ShaderFlags.None);
}
Vector3[] vertices = new Vector3[4 * 2];
Mesh mesh = new Mesh(device, 2, 4, MeshFlags.SystemMemory, VertexFormat.Position | VertexFormat.Normal);
Vector3 planeOrigin = shape.PlaneNormal * shape.PlaneConstant;
Vector3 vec0, vec1;
PlaneSpace1(shape.PlaneNormal, out vec0, out vec1);
float size = 1000;
Vector3[] verts = new Vector3[4]
{
planeOrigin + vec0*size,
planeOrigin - vec0*size,
planeOrigin + vec1*size,
planeOrigin - vec1*size
};
SlimDX.DataStream vertexBuffer = mesh.LockVertexBuffer(LockFlags.Discard);
vertexBuffer.Write(verts[0]);
vertexBuffer.Position += 12;
vertexBuffer.Write(verts[1]);
vertexBuffer.Position += 12;
vertexBuffer.Write(verts[2]);
vertexBuffer.Position += 12;
vertexBuffer.Write(verts[3]);
vertexBuffer.Position += 12;
mesh.UnlockVertexBuffer();
SlimDX.DataStream indexBuffer = mesh.LockIndexBuffer(LockFlags.Discard);
indexBuffer.Write((short)1);
indexBuffer.Write((short)2);
indexBuffer.Write((short)0);
indexBuffer.Write((short)1);
indexBuffer.Write((short)3);
indexBuffer.Write((short)0);
mesh.UnlockIndexBuffer();
mesh.ComputeNormals();
complexShapes.Add(shape, mesh);
return mesh;
}
*/
ShapeData CreateTriangleMeshShape(StridingMeshInterface meshInterface)
{
BulletSharp.DataStream vertexStream, indexStream;
int numVerts, numFaces;
PhyScalarType vertsType, indicesType;
int vertexStride, indexStride;
meshInterface.GetLockedReadOnlyVertexIndexData(out vertexStream, out numVerts, out vertsType, out vertexStride,
out indexStream, out indexStride, out numFaces, out indicesType);
ShapeData shapeData = new ShapeData();
shapeData.VertexCount = numVerts;
shapeData.IndexCount = numFaces * 3;
Vector3[] vertices = new Vector3[shapeData.VertexCount * 2];
int v = 0;
int vStrideExtra = vertexStride - Marshal.SizeOf(typeof(Vector3));
while (vertexStream.Position < vertexStream.Length)
{
Vector3 v0 = vertexStream.Read<Vector3>();
vertexStream.Position += vStrideExtra;
Vector3 v1 = vertexStream.Read<Vector3>();
vertexStream.Position += vStrideExtra;
Vector3 v2 = vertexStream.Read<Vector3>();
vertexStream.Position += vStrideExtra;
Vector3 v01 = v0 - v1;
Vector3 v02 = v0 - v2;
Vector3 normal = Vector3.Cross(v01, v02);
vertices[v++] = v0;
vertices[v++] = normal;
vertices[v++] = v1;
vertices[v++] = normal;
vertices[v++] = v2;
vertices[v++] = normal;
}
int i = 0;
if (numVerts > 65536)
{
uint[] indices = new uint[shapeData.IndexCount];
while (indexStream.Position < indexStream.Length)
indices[i++] = indexStream.Read<uint>();
shapeData.SetIndexBuffer(device, indices);
}
else
{
ushort[] indices = new ushort[shapeData.IndexCount];
while (indexStream.Position < indexStream.Length)
indices[i++] = (ushort)indexStream.Read<int>();
shapeData.SetIndexBuffer(device, indices);
}
shapeData.SetVertexBuffer(device, vertices);
return shapeData;
}
ShapeData InitShapeData(CollisionShape shape)
{
ShapeData shapeData;
if (shapes.TryGetValue(shape, out shapeData) == false)
{
switch (shape.ShapeType)
{
case BroadphaseNativeType.SoftBodyShape:
shapeData = new ShapeData();
break;
case BroadphaseNativeType.BoxShape:
shapeData = CreateBoxShape(shape as BoxShape);
break;
case BroadphaseNativeType.CapsuleShape:
shapeData = CreateCapsule(shape as CapsuleShape);
break;
case BroadphaseNativeType.CylinderShape:
shapeData = CreateCylinderShape(shape as CylinderShape);
break;
case BroadphaseNativeType.ConvexHullShape:
shapeData = CreateConvexHullShape(shape as ConvexHullShape);
break;
case BroadphaseNativeType.GImpactShape:
shapeData = CreateTriangleMeshShape((shape as GImpactMeshShape).MeshInterface);
break;
case BroadphaseNativeType.SphereShape:
shapeData = CreateSphereShape(shape as SphereShape);
break;
case BroadphaseNativeType.TriangleMeshShape:
shapeData = CreateTriangleMeshShape((shape as TriangleMeshShape).MeshInterface);
break;
default:
throw new NotImplementedException();
}
// Create an initial instance data buffer for a single instance
instanceDataDesc.SizeInBytes = InstanceData.SizeInBytes;
shapeData.InstanceDataBuffer = new Buffer(device, instanceDataDesc);
shapeData.BufferBindings[1] = new VertexBufferBinding(shapeData.InstanceDataBuffer, instanceDataDesc.SizeInBytes, 0);
shapes.Add(shape, shapeData);
}
return shapeData;
}
ShapeData CreateConvexHullShape(ConvexHullShape shape)
{
ConvexPolyhedron poly = shape.ConvexPolyhedron;
if (poly != null)
{
throw new NotImplementedException();
}
ShapeHull hull = new ShapeHull(shape);
hull.BuildHull(shape.Margin);
int indexCount = hull.NumIndices;
UIntArray indices = hull.Indices;
Vector3Array points = hull.Vertices;
ShapeData shapeData = new ShapeData();
shapeData.VertexCount = indexCount;
Vector3[] vertices = new Vector3[indexCount * 2];
int v = 0, i;
for (i = 0; i < indexCount; i += 3)
{
Vector3 v0 = points[(int)indices[i]];
Vector3 v1 = points[(int)indices[i + 1]];
Vector3 v2 = points[(int)indices[i + 2]];
Vector3 v01 = v0 - v1;
Vector3 v02 = v0 - v2;
Vector3 normal = Vector3.Cross(v01, v02);
normal.Normalize();
vertices[v++] = v0;
vertices[v++] = normal;
vertices[v++] = v1;
vertices[v++] = normal;
vertices[v++] = v2;
vertices[v++] = normal;
}
shapeData.SetVertexBuffer(device, vertices);
return shapeData;
}
/*
Mesh CreateMultiSphereShape(MultiSphereShape shape)
{
Mesh mesh = null;
int i;
for (i = 0; i < shape.SphereCount; i++)
{
Vector3 position = shape.GetSpherePosition(i);
Mesh sphereMesh = Mesh.CreateSphere(device, shape.GetSphereRadius(i), 12, 12);
if (i == 0)
{
Matrix[] transform = new Matrix[] { Matrix.Translation(position) };
mesh = Mesh.Concatenate(device, new Mesh[] { sphereMesh }, MeshFlags.Managed, transform, null);
}
else
{
Mesh multiSphereMeshNew;
Matrix[] transform = new Matrix[] { Matrix.Identity, Matrix.Translation(position) };
multiSphereMeshNew = Mesh.Concatenate(device, new Mesh[] { mesh, sphereMesh }, MeshFlags.Managed, transform, null);
mesh.Dispose();
mesh = multiSphereMeshNew;
}
sphereMesh.Dispose();
}
complexShapes.Add(shape, mesh);
return mesh;
}
*/
ShapeData CreateSphereShape(SphereShape shape)
{
float radius = shape.Radius;
int slices = (int)(radius * 10.0f);
int stacks = (int)(radius * 10.0f);
slices = (slices > 16) ? 16 : (slices < 3) ? 3 : slices;
stacks = (stacks > 16) ? 16 : (stacks < 2) ? 2 : stacks;
float hAngleStep = (float)Math.PI * 2 / slices;
float vAngleStep = (float)Math.PI / stacks;
ShapeData shapeData = new ShapeData();
shapeData.VertexCount = 2 + slices * (stacks - 1);
shapeData.IndexCount = 6 * slices * (stacks - 1);
Vector3[] vertices = new Vector3[shapeData.VertexCount * 2];
ushort[] indices = new ushort[shapeData.IndexCount];
int i = 0, v = 0;
// Vertices
// Top and bottom
vertices[v++] = new Vector3(0, -radius, 0);
vertices[v++] = -Vector3.UnitY;
vertices[v++] = new Vector3(0, radius, 0);
vertices[v++] = Vector3.UnitY;
// Stacks
int j, k;
float angle = 0;
float vAngle = -(float)Math.PI / 2;
Vector3 vTemp;
for (j = 0; j < stacks - 1; j++)
{
vAngle += vAngleStep;
for (k = 0; k < slices; k++)
{
angle += hAngleStep;
vTemp = new Vector3((float)Math.Cos(vAngle) * (float)Math.Sin(angle), (float)Math.Sin(vAngle), (float)Math.Cos(vAngle) * (float)Math.Cos(angle));
vertices[v++] = vTemp * radius;
vertices[v++] = Vector3.Normalize(vTemp);
}
}
// Indices
// Top cap
ushort index = 2;
for (k = 0; k < slices; k++)
{
indices[i++] = index++;
indices[i++] = 0;
indices[i++] = index;
}
indices[i - 1] = 2;
// Stacks
//for (j = 0; j < 1; j++)
int sliceDiff = slices * 3;
for (j = 0; j < stacks - 2; j++)
{
for (k = 0; k < slices; k++)
{
indices[i] = indices[i - sliceDiff + 2];
indices[i + 1] = index++;
indices[i + 2] = indices[i - sliceDiff];
i += 3;
}
for (k = 0; k < slices; k++)
{
indices[i] = indices[i - sliceDiff + 1];
indices[i + 1] = indices[i - sliceDiff];
indices[i + 2] = indices[i - sliceDiff + 4];
i += 3;
}
indices[i - 1] = indices[i - sliceDiff];
}
// Bottom cap
index--;
for (k = 0; k < slices; k++)
{
indices[i++] = index--;
indices[i++] = 1;
indices[i++] = index;
}
indices[i - 1] = indices[i - sliceDiff];
shapeData.SetVertexBuffer(device, vertices);
shapeData.SetIndexBuffer(device, indices);
return shapeData;
}
public ShapeData CreateCapsule(CapsuleShape shape)
{
int up = shape.UpAxis;
float radius = shape.Radius;
float cylinderHalfHeight = shape.HalfHeight;
int slices = (int)(radius * 10.0f);
int stacks = (int)(radius * 10.0f);
slices = (slices > 16) ? 16 : (slices < 3) ? 3 : slices;
stacks = (stacks > 16) ? 16 : (stacks < 3) ? 3 : stacks;
float hAngleStep = (float)Math.PI * 2 / slices;
float vAngleStep = (float)Math.PI / stacks;
ShapeData shapeData = new ShapeData();
shapeData.VertexCount = 2 + slices * (stacks - 1);
shapeData.IndexCount = 6 * slices * (stacks - 1);
Vector3[] vertices = new Vector3[shapeData.VertexCount * 2];
ushort[] indices = new ushort[shapeData.IndexCount];
int i = 0, v = 0;
// Vertices
// Top and bottom
vertices[v++] = GetVectorByAxis(0, -cylinderHalfHeight - radius, 0, up);
vertices[v++] = GetVectorByAxis(-Vector3.UnitY, up);
vertices[v++] = GetVectorByAxis(0, cylinderHalfHeight + radius, 0, up);
vertices[v++] = GetVectorByAxis(Vector3.UnitY, up);
// Stacks
int j, k;
float angle = 0;
float vAngle = -(float)Math.PI / 2;
Vector3 vTemp;
Vector3 cylinderOffset = GetVectorByAxis(0, -cylinderHalfHeight, 0, up);
for (j = 0; j < stacks - 1; j++)
{
float prevAngle = vAngle;
vAngle += vAngleStep;
if (vAngle > 0 && prevAngle < 0)
{
cylinderOffset = GetVectorByAxis(0, cylinderHalfHeight, 0, up);
}
for (k = 0; k < slices; k++)
{
angle += hAngleStep;
vTemp = GetVectorByAxis((float)Math.Cos(vAngle) * (float)Math.Sin(angle),
(float)Math.Sin(vAngle),
(float)Math.Cos(vAngle) * (float)Math.Cos(angle), up);
vertices[v++] = vTemp * radius + cylinderOffset;
vertices[v++] = Vector3.Normalize(vTemp);
}
}
// Indices
// Top cap
ushort index = 2;
for (k = 0; k < slices; k++)
{
indices[i++] = index++;
indices[i++] = 0;
indices[i++] = index;
}
indices[i - 1] = 2;
// Stacks
int sliceDiff = slices * 3;
for (j = 0; j < stacks - 2; j++)
{
for (k = 0; k < slices; k++)
{
indices[i] = indices[i - sliceDiff + 2];
indices[i + 1] = index++;
indices[i + 2] = indices[i - sliceDiff];
i += 3;
}
for (k = 0; k < slices; k++)
{
indices[i] = indices[i - sliceDiff + 1];
indices[i + 1] = indices[i - sliceDiff];
indices[i + 2] = indices[i - sliceDiff + 4];
i += 3;
}
indices[i - 1] = indices[i - sliceDiff];
}
// Bottom cap
index--;
for (k = 0; k < slices; k++)
{
indices[i++] = index--;
indices[i++] = 1;
indices[i++] = index;
}
indices[i - 1] = indices[i - sliceDiff];
shapeData.SetVertexBuffer(device, vertices);
shapeData.SetIndexBuffer(device, indices);
return shapeData;
}
ShapeData CreateCylinderShape(CylinderShape shape)
{
int up = shape.UpAxis;
float radius = shape.Radius;
float halfHeight = shape.HalfExtentsWithoutMargin[up] + shape.Margin;
int numSteps = 10;
float angleStep = (2 * (float)Math.PI) / numSteps;
ShapeData shapeData = new ShapeData();
shapeData.VertexCount = 2 + 6 * numSteps;
shapeData.IndexCount = (4 * numSteps + 2) * 3;
Vector3[] vertices = new Vector3[shapeData.VertexCount * 2];
ushort[] indices = new ushort[shapeData.IndexCount];
int i = 0, v = 0;
ushort index = 0;
ushort baseIndex;
Vector3 normal;
// Draw two sides
for (int side = 1; side != -3; side -= 2)
{
normal = GetVectorByAxis(side * Vector3.UnitY, up);
baseIndex = index;
vertices[v++] = GetVectorByAxis(new Vector3(0, side * halfHeight, 0), up);
vertices[v++] = normal;
vertices[v++] = GetVectorByAxis(new Vector3(0, side * halfHeight, radius), up);
vertices[v++] = normal;
index += 2;
for (int j = 1; j < numSteps; j++)
{
float x = radius * (float)Math.Sin(j * angleStep);
float z = radius * (float)Math.Cos(j * angleStep);
vertices[v++] = GetVectorByAxis(new Vector3(x, side * halfHeight, z), up);
vertices[v++] = normal;
indices[i++] = baseIndex;
if (side == 1)
{
indices[i++] = (ushort)(index - 1);
indices[i++] = index++;
}
else
{
indices[i++] = index;
indices[i++] = (ushort)(index - 1);
index++;
}
}
indices[i++] = baseIndex;
if (side == 1)
{
indices[i++] = (ushort)(index - 1);
indices[i++] = (ushort)(baseIndex + 1);
}
else
{
indices[i++] = (ushort)(baseIndex + 1);
indices[i++] = (ushort)(index - 1);
}
}
normal = GetVectorByAxis(new Vector3(0, 0, radius), up);
normal.Normalize();
baseIndex = index;
vertices[v++] = GetVectorByAxis(new Vector3(0, halfHeight, radius), up);
vertices[v++] = normal;
vertices[v++] = GetVectorByAxis(new Vector3(0, -halfHeight, radius), up);
vertices[v++] = normal;
index += 2;
for (int j = 1; j < numSteps + 1; j++)
{
float x = radius * (float)Math.Sin(j * angleStep);
float z = radius * (float)Math.Cos(j * angleStep);
normal = GetVectorByAxis(new Vector3(x, 0, z), up);
normal.Normalize();
vertices[v++] = GetVectorByAxis(new Vector3(x, halfHeight, z), up);
vertices[v++] = normal;
vertices[v++] = GetVectorByAxis(new Vector3(x, -halfHeight, z), up);
vertices[v++] = normal;
indices[i++] = (ushort)(index - 2);
indices[i++] = (ushort)(index - 1);
indices[i++] = index;
indices[i++] = index;
indices[i++] = (ushort)(index - 1);
indices[i++] = (ushort)(index + 1);
index += 2;
}
indices[i++] = (ushort)(index - 2);
indices[i++] = (ushort)(index - 1);
indices[i++] = baseIndex;
indices[i++] = baseIndex;
indices[i++] = (ushort)(index - 1);
indices[i] = (ushort)(baseIndex + 1);
shapeData.SetVertexBuffer(device, vertices);
shapeData.SetIndexBuffer(device, indices);
return shapeData;
}
ShapeData CreateBoxShape(BoxShape shape)
{
Vector3 size = shape.HalfExtentsWithMargin;
float x = size.X;
float y = size.Y;
float z = size.Z;
ShapeData shapeData = new ShapeData();
shapeData.VertexCount = 36;
Vector3[] vectors = new Vector3[shapeData.VertexCount * 2];
Vector3 normal;
int v = 0;
// Draw two sides
for (int i = 1; i != -3; i -= 2)
{
normal = new Vector3(i, 0, 0);
vectors[v++] = new Vector3(i * x, y, -z); // Position
vectors[v++] = normal;
vectors[v++] = new Vector3(i * x, -y, -z);
vectors[v++] = normal;
vectors[v++] = new Vector3(i * x, -y, z);
vectors[v++] = normal;
vectors[v++] = new Vector3(i * x, y, -z);
vectors[v++] = normal;
vectors[v++] = new Vector3(i * x, y, z);
vectors[v++] = normal;
vectors[v++] = new Vector3(i * x, -y, z);
vectors[v++] = normal;
}
for (int i = 1; i != -3; i -= 2)
{
normal = new Vector3(0, 0, i);
vectors[v++] = new Vector3(-x, y, i * z);
vectors[v++] = normal;
vectors[v++] = new Vector3(-x, -y, i * z);
vectors[v++] = normal;
vectors[v++] = new Vector3(x, -y, i * z);
vectors[v++] = normal;
vectors[v++] = new Vector3(-x, y, i * z);
vectors[v++] = normal;
vectors[v++] = new Vector3(x, y, i * z);
vectors[v++] = normal;
vectors[v++] = new Vector3(x, -y, i * z);
vectors[v++] = normal;
}
for (int i = 1; i != -3; i -= 2)
{
normal = new Vector3(0, i, 0);
vectors[v++] = new Vector3(-x, i * y, -z);
vectors[v++] = normal;
vectors[v++] = new Vector3(x, i * y, -z);
vectors[v++] = normal;
vectors[v++] = new Vector3(-x, i * y, z);
vectors[v++] = normal;
vectors[v++] = new Vector3(x, i * y, z);
vectors[v++] = normal;
vectors[v++] = new Vector3(-x, i * y, z);
vectors[v++] = normal;
vectors[v++] = new Vector3(x, i * y, -z);
vectors[v++] = normal;
}
shapeData.SetVertexBuffer(device, vectors);
return shapeData;
}
ShapeData CreateBoxShape(BoxShape shape)
{
Vector3 size = shape.HalfExtentsWithMargin;
float x = size.X;
float y = size.Y;
float z = size.Z;
ShapeData shapeData = new ShapeData();
shapeData.VertexCount = 36;
Vector3[] vertices = new Vector3[shapeData.VertexCount * 2];
Vector3 normal;
int v = 0;
for (int j = 0; j < 3; j++)
{
for (int i = 1; i != -3; i -= 2)
{
normal = GetVectorByAxis(0, i, 0, j);
vertices[v++] = GetVectorByAxis(i, i, i, j) * size;
vertices[v++] = normal;
vertices[v++] = GetVectorByAxis(1, i, -1, j) * size;
vertices[v++] = normal;
vertices[v++] = GetVectorByAxis(-1, i, 1, j) * size;
vertices[v++] = normal;
vertices[v++] = GetVectorByAxis(-i, i, -i, j) * size;
vertices[v++] = normal;
vertices[v++] = GetVectorByAxis(-1, i, 1, j) * size;
vertices[v++] = normal;
vertices[v++] = GetVectorByAxis(1, i, -1, j) * size;
vertices[v++] = normal;
}
}
shapeData.SetVertexBuffer(device, vertices);
return shapeData;
}
public void InitInstancedRender()
{
// Clear instance data
foreach (ShapeData s in shapes.Values)
{
s.InstanceDataList.Clear();
}
removeList.Clear();
AlignedCollisionObjectArray objects = demo.PhysicsContext.World.CollisionObjectArray;
int i = objects.Count - 1;
for (; i >= 0; i--)
{
CollisionObject colObj = objects[i];
Matrix transform;
if (colObj is SoftBody)
{
transform = Matrix.Identity;
}
else
{
((colObj as RigidBody).MotionState as DefaultMotionState).GetWorldTransform(out transform);
}
InitInstanceData(colObj, colObj.CollisionShape, ref transform);
}
foreach (KeyValuePair <CollisionShape, ShapeData> sh in shapes)
{
ShapeData s = sh.Value;
// Is the instance buffer the right size?
if (s.InstanceDataBuffer.Description.SizeInBytes != s.InstanceDataList.Count * 68)
{
// No, recreate it
s.InstanceDataBuffer.Dispose();
if (s.InstanceDataList.Count == 0)
{
if (s.IndexBuffer != null)
{
s.IndexBuffer.Dispose();
}
s.VertexBuffer.Dispose();
removeList.Add(sh.Key);
continue;
}
instanceDataDesc.SizeInBytes = s.InstanceDataList.Count * 68;
s.InstanceDataBuffer = new Buffer(device, instanceDataDesc);
s.BufferBindings[1] = new VertexBufferBinding(s.InstanceDataBuffer, 68, 0);
}
// Copy the instance data over to the instance buffer
using (var data = s.InstanceDataBuffer.Map(MapMode.WriteDiscard))
{
data.WriteRange(s.InstanceDataList.ToArray());
s.InstanceDataBuffer.Unmap();
}
}
if (removeList.Count != 0)
{
for (i = removeList.Count - 1; i >= 0; i--)
{
shapes.Remove(removeList[i]);
}
}
}
public void UpdateSoftBody(SoftBody softBody, ShapeData shapeData)
{
AlignedFaceArray faces = softBody.Faces;
if (faces.Count != 0)
{
shapeData.VertexCount = faces.Count * 3;
Vector3[] vectors = new Vector3[shapeData.VertexCount * 2];
int v = 0;
int i;
for (i = 0; i < faces.Count; i++)
{
NodePtrArray nodes = faces[i].N;
Node n0 = nodes[0];
Node n1 = nodes[1];
Node n2 = nodes[2];
n0.GetX(out vectors[v]);
n0.GetNormal(out vectors[v + 1]);
n1.GetX(out vectors[v + 2]);
n1.GetNormal(out vectors[v + 3]);
n2.GetX(out vectors[v + 4]);
n2.GetNormal(out vectors[v + 5]);
v += 6;
}
shapeData.SetDynamicVertexBuffer(device, vectors);
}
else
{
AlignedTetraArray tetras = softBody.Tetras;
int tetraCount = tetras.Count;
if (tetraCount != 0)
{
shapeData.VertexCount = tetraCount * 12;
Vector3[] vectors = new Vector3[tetraCount * 24];
int v = 0;
for (int i = 0; i < tetraCount; i++)
{
NodePtrArray nodes = tetras[i].Nodes;
Vector3 v0 = nodes[0].X;
Vector3 v1 = nodes[1].X;
Vector3 v2 = nodes[2].X;
Vector3 v3 = nodes[3].X;
Vector3 v10 = v1 - v0;
Vector3 v02 = v0 - v2;
Vector3 normal = Vector3.Cross(v10, v02);
vectors[v] = v0;
vectors[v + 1] = normal;
vectors[v + 2] = v1;
vectors[v + 3] = normal;
vectors[v + 4] = v2;
vectors[v + 5] = normal;
normal = Vector3.Cross(v10, v3 - v0);
vectors[v + 6] = v0;
vectors[v + 7] = normal;
vectors[v + 8] = v1;
vectors[v + 9] = normal;
vectors[v + 10] = v3;
vectors[v + 11] = normal;
normal = Vector3.Cross(v2 - v1, v3 - v1);
vectors[v + 12] = v1;
vectors[v + 13] = normal;
vectors[v + 14] = v2;
vectors[v + 15] = normal;
vectors[v + 16] = v3;
vectors[v + 17] = normal;
normal = Vector3.Cross(v02, v3 - v2);
vectors[v + 18] = v2;
vectors[v + 19] = normal;
vectors[v + 20] = v0;
vectors[v + 21] = normal;
vectors[v + 22] = v3;
vectors[v + 23] = normal;
v += 24;
}
shapeData.SetDynamicVertexBuffer(device, vectors);
}
else if (softBody.Links.Count != 0)
{
AlignedLinkArray links = softBody.Links;
int linkCount = links.Count;
shapeData.VertexCount = linkCount * 2;
Vector3[] vectors = new Vector3[linkCount * 4];
for (int i = 0; i < linkCount; i++)
{
NodePtrArray nodes = links[i].Nodes;
nodes[0].GetX(out vectors[i * 4]);
nodes[1].GetX(out vectors[i * 4 + 2]);
}
shapeData.PrimitiveTopology = PrimitiveTopology.LineList;
shapeData.SetDynamicVertexBuffer(device, vectors);
}
else
{
throw new NotImplementedException();
}
}
}
/*
* Mesh CreateStaticPlaneShape(StaticPlaneShape shape)
* {
* // Load shader
* if (planeShader == null)
* {
* Assembly assembly = Assembly.GetExecutingAssembly();
* Stream shaderStream = assembly.GetManifestResourceStream("DemoFramework.checker_shader.fx");
*
* planeShader = Effect.FromStream(device, shaderStream, ShaderFlags.None);
* }
*
*
* Vector3[] vertices = new Vector3[4 * 2];
*
* Mesh mesh = new Mesh(device, 2, 4, MeshFlags.SystemMemory, VertexFormat.Position | VertexFormat.Normal);
*
* Vector3 planeOrigin = shape.PlaneNormal * shape.PlaneConstant;
* Vector3 vec0, vec1;
* PlaneSpace1(shape.PlaneNormal, out vec0, out vec1);
* float size = 1000;
*
* Vector3[] verts = new Vector3[4]
* {
* planeOrigin + vec0*size,
* planeOrigin - vec0*size,
* planeOrigin + vec1*size,
* planeOrigin - vec1*size
* };
*
* SlimDX.DataStream vertexBuffer = mesh.LockVertexBuffer(LockFlags.Discard);
* vertexBuffer.Write(verts[0]);
* vertexBuffer.Position += 12;
* vertexBuffer.Write(verts[1]);
* vertexBuffer.Position += 12;
* vertexBuffer.Write(verts[2]);
* vertexBuffer.Position += 12;
* vertexBuffer.Write(verts[3]);
* vertexBuffer.Position += 12;
* mesh.UnlockVertexBuffer();
*
* SlimDX.DataStream indexBuffer = mesh.LockIndexBuffer(LockFlags.Discard);
* indexBuffer.Write((short)1);
* indexBuffer.Write((short)2);
* indexBuffer.Write((short)0);
* indexBuffer.Write((short)1);
* indexBuffer.Write((short)3);
* indexBuffer.Write((short)0);
* mesh.UnlockIndexBuffer();
*
* mesh.ComputeNormals();
*
* complexShapes.Add(shape, mesh);
*
* return mesh;
* }
*/
ShapeData CreateTriangleMeshShape(StridingMeshInterface meshInterface)
{
BulletSharp.DataStream vertexStream, indexStream;
int numVerts, numFaces;
PhyScalarType vertsType, indicesType;
int vertexStride, indexStride;
meshInterface.GetLockedReadOnlyVertexIndexData(out vertexStream, out numVerts, out vertsType, out vertexStride,
out indexStream, out indexStride, out numFaces, out indicesType);
ShapeData shapeData = new ShapeData();
shapeData.VertexCount = numVerts;
shapeData.IndexCount = numFaces * 3;
Vector3[] vertices = new Vector3[shapeData.VertexCount * 2];
int v = 0;
int vStrideExtra = vertexStride - Marshal.SizeOf(typeof(Vector3));
while (vertexStream.Position < vertexStream.Length)
{
Vector3 v0 = vertexStream.Read <Vector3>();
vertexStream.Position += vStrideExtra;
Vector3 v1 = vertexStream.Read <Vector3>();
vertexStream.Position += vStrideExtra;
Vector3 v2 = vertexStream.Read <Vector3>();
vertexStream.Position += vStrideExtra;
Vector3 v01 = v0 - v1;
Vector3 v02 = v0 - v2;
Vector3 normal = Vector3.Cross(v01, v02);
vertices[v++] = v0;
vertices[v++] = normal;
vertices[v++] = v1;
vertices[v++] = normal;
vertices[v++] = v2;
vertices[v++] = normal;
}
int i = 0;
if (numVerts > 65536)
{
uint[] indices = new uint[shapeData.IndexCount];
while (indexStream.Position < indexStream.Length)
{
indices[i++] = indexStream.Read <uint>();
}
shapeData.SetIndexBuffer(device, indices);
}
else
{
ushort[] indices = new ushort[shapeData.IndexCount];
while (indexStream.Position < indexStream.Length)
{
indices[i++] = (ushort)indexStream.Read <int>();
}
shapeData.SetIndexBuffer(device, indices);
}
shapeData.SetVertexBuffer(device, vertices);
return(shapeData);
}
/*
* Mesh CreateMultiSphereShape(MultiSphereShape shape)
* {
* Mesh mesh = null;
*
* int i;
* for (i = 0; i < shape.SphereCount; i++)
* {
* Vector3 position = shape.GetSpherePosition(i);
*
* Mesh sphereMesh = Mesh.CreateSphere(device, shape.GetSphereRadius(i), 12, 12);
* if (i == 0)
* {
* Matrix[] transform = new Matrix[] { Matrix.Translation(position) };
* mesh = Mesh.Concatenate(device, new Mesh[] { sphereMesh }, MeshFlags.Managed, transform, null);
* }
* else
* {
* Mesh multiSphereMeshNew;
* Matrix[] transform = new Matrix[] { Matrix.Identity, Matrix.Translation(position) };
* multiSphereMeshNew = Mesh.Concatenate(device, new Mesh[] { mesh, sphereMesh }, MeshFlags.Managed, transform, null);
* mesh.Dispose();
* mesh = multiSphereMeshNew;
* }
* sphereMesh.Dispose();
* }
*
* complexShapes.Add(shape, mesh);
* return mesh;
* }
*/
ShapeData CreateSphereShape(SphereShape shape)
{
float radius = shape.Radius;
int slices = (int)(radius * 10.0f);
int stacks = (int)(radius * 10.0f);
slices = (slices > 16) ? 16 : (slices < 3) ? 3 : slices;
stacks = (stacks > 16) ? 16 : (stacks < 2) ? 2 : stacks;
float hAngleStep = (float)Math.PI * 2 / slices;
float vAngleStep = (float)Math.PI / stacks;
ShapeData shapeData = new ShapeData();
shapeData.VertexCount = 2 + slices * (stacks - 1);
shapeData.IndexCount = 6 * slices * (stacks - 1);
Vector3[] vertices = new Vector3[shapeData.VertexCount * 2];
ushort[] indices = new ushort[shapeData.IndexCount];
int i = 0, v = 0;
// Vertices
// Top and bottom
vertices[v++] = new Vector3(0, -radius, 0);
vertices[v++] = -Vector3.UnitY;
vertices[v++] = new Vector3(0, radius, 0);
vertices[v++] = Vector3.UnitY;
// Stacks
int j, k;
float angle = 0;
float vAngle = -(float)Math.PI / 2;
Vector3 vTemp;
for (j = 0; j < stacks - 1; j++)
{
vAngle += vAngleStep;
for (k = 0; k < slices; k++)
{
angle += hAngleStep;
vTemp = new Vector3((float)Math.Cos(vAngle) * (float)Math.Sin(angle), (float)Math.Sin(vAngle), (float)Math.Cos(vAngle) * (float)Math.Cos(angle));
vertices[v++] = vTemp * radius;
vertices[v++] = Vector3.Normalize(vTemp);
}
}
// Indices
// Top cap
ushort index = 2;
for (k = 0; k < slices; k++)
{
indices[i++] = 0;
indices[i++] = index;
index++;
indices[i++] = index;
}
indices[i - 1] = 2;
// Stacks
//for (j = 0; j < 1; j++)
int sliceDiff = slices * 3;
for (j = 0; j < stacks - 2; j++)
{
for (k = 0; k < slices; k++)
{
indices[i++] = indices[i - sliceDiff];
indices[i++] = indices[i - sliceDiff];
indices[i++] = index;
index++;
}
for (k = 0; k < slices; k++)
{
indices[i++] = indices[i - sliceDiff];
indices[i++] = indices[i - sliceDiff];
indices[i++] = indices[i - sliceDiff + 2];
}
indices[i - 1] = indices[i - sliceDiff + 1];
}
// Bottom cap
index--;
for (k = 0; k < slices; k++)
{
indices[i++] = 1;
indices[i++] = index;
index--;
indices[i++] = index;
}
indices[i - 1] = indices[i - sliceDiff + 1];
shapeData.SetVertexBuffer(device, vertices);
shapeData.SetIndexBuffer(device, indices);
return(shapeData);
}
ShapeData CreateCylinderShape(CylinderShape shape)
{
int up = shape.UpAxis;
float radius = shape.Radius;
float halfHeight = shape.HalfExtentsWithoutMargin[up] + shape.Margin;
int numSteps = 10;
float angleStep = (2 * (float)Math.PI) / numSteps;
ShapeData shapeData = new ShapeData();
shapeData.VertexCount = 2 + 6 * numSteps;
shapeData.IndexCount = (4 * numSteps + 2) * 3;
Vector3[] vertices = new Vector3[shapeData.VertexCount * 2];
ushort[] indices = new ushort[shapeData.IndexCount];
int i = 0, v = 0;
ushort index = 0;
ushort baseIndex;
Vector3 normal;
// Draw two sides
for (int side = 1; side != -3; side -= 2)
{
normal = GetVectorByAxis(side * Vector3.UnitY, up);
baseIndex = index;
vertices[v++] = GetVectorByAxis(new Vector3(0, side * halfHeight, 0), up);
vertices[v++] = normal;
vertices[v++] = GetVectorByAxis(new Vector3(0, side * halfHeight, radius), up);
vertices[v++] = normal;
index += 2;
for (int j = 1; j < numSteps; j++)
{
float x = radius * (float)Math.Sin(j * angleStep);
float z = radius * (float)Math.Cos(j * angleStep);
vertices[v++] = GetVectorByAxis(new Vector3(x, side * halfHeight, z), up);
vertices[v++] = normal;
indices[i++] = baseIndex;
indices[i++] = (ushort)(index - 1);
indices[i++] = index++;
}
indices[i++] = baseIndex;
indices[i++] = (ushort)(index - 1);
indices[i++] = (ushort)(baseIndex + 1);
}
normal = GetVectorByAxis(new Vector3(0, 0, radius), up);
normal.Normalize();
baseIndex = index;
vertices[v++] = GetVectorByAxis(new Vector3(0, halfHeight, radius), up);
vertices[v++] = normal;
vertices[v++] = GetVectorByAxis(new Vector3(0, -halfHeight, radius), up);
vertices[v++] = normal;
index += 2;
for (int j = 1; j < numSteps + 1; j++)
{
float x = radius * (float)Math.Sin(j * angleStep);
float z = radius * (float)Math.Cos(j * angleStep);
normal = GetVectorByAxis(new Vector3(x, 0, z), up);
normal.Normalize();
vertices[v++] = GetVectorByAxis(new Vector3(x, halfHeight, z), up);
vertices[v++] = normal;
vertices[v++] = GetVectorByAxis(new Vector3(x, -halfHeight, z), up);
vertices[v++] = normal;
indices[i++] = (ushort)(index - 2);
indices[i++] = (ushort)(index - 1);
indices[i++] = index;
indices[i++] = index;
indices[i++] = (ushort)(index - 1);
indices[i++] = (ushort)(index + 1);
index += 2;
}
indices[i++] = (ushort)(index - 2);
indices[i++] = (ushort)(index - 1);
indices[i++] = baseIndex;
indices[i++] = baseIndex;
indices[i++] = (ushort)(index - 1);
indices[i++] = (ushort)(baseIndex + 1);
shapeData.SetVertexBuffer(device, vertices);
shapeData.SetIndexBuffer(device, indices);
return(shapeData);
}
ShapeData CreateBoxShape(BoxShape shape)
{
Vector3 size = shape.HalfExtentsWithMargin;
float x = size.X;
float y = size.Y;
float z = size.Z;
ShapeData shapeData = new ShapeData();
shapeData.VertexCount = 36;
Vector3[] vectors = new Vector3[shapeData.VertexCount * 2];
Vector3 normal;
int v = 0;
// Draw two sides
for (int i = 1; i != -3; i -= 2)
{
normal = new Vector3(i, 0, 0);
vectors[v++] = new Vector3(i * x, y, -z); // Position
vectors[v++] = normal;
vectors[v++] = new Vector3(i * x, -y, -z);
vectors[v++] = normal;
vectors[v++] = new Vector3(i * x, -y, z);
vectors[v++] = normal;
vectors[v++] = new Vector3(i * x, y, -z);
vectors[v++] = normal;
vectors[v++] = new Vector3(i * x, y, z);
vectors[v++] = normal;
vectors[v++] = new Vector3(i * x, -y, z);
vectors[v++] = normal;
}
for (int i = 1; i != -3; i -= 2)
{
normal = new Vector3(0, 0, i);
vectors[v++] = new Vector3(-x, y, i * z);
vectors[v++] = normal;
vectors[v++] = new Vector3(-x, -y, i * z);
vectors[v++] = normal;
vectors[v++] = new Vector3(x, -y, i * z);
vectors[v++] = normal;
vectors[v++] = new Vector3(-x, y, i * z);
vectors[v++] = normal;
vectors[v++] = new Vector3(x, y, i * z);
vectors[v++] = normal;
vectors[v++] = new Vector3(x, -y, i * z);
vectors[v++] = normal;
}
for (int i = 1; i != -3; i -= 2)
{
normal = new Vector3(0, i, 0);
vectors[v++] = new Vector3(-x, i * y, -z);
vectors[v++] = normal;
vectors[v++] = new Vector3(x, i * y, -z);
vectors[v++] = normal;
vectors[v++] = new Vector3(-x, i * y, z);
vectors[v++] = normal;
vectors[v++] = new Vector3(x, i * y, z);
vectors[v++] = normal;
vectors[v++] = new Vector3(-x, i * y, z);
vectors[v++] = normal;
vectors[v++] = new Vector3(x, i * y, -z);
vectors[v++] = normal;
}
shapeData.SetVertexBuffer(device, vectors);
return(shapeData);
}
public void UpdateSoftBody(SoftBody softBody, ShapeData shapeData)
{
AlignedFaceArray faces = softBody.Faces;
if (faces.Count != 0)
{
shapeData.VertexCount = faces.Count * 3;
Vector3[] vectors = new Vector3[shapeData.VertexCount * 2];
int v = 0;
int i;
for (i = 0; i < faces.Count; i++)
{
NodePtrArray nodes = faces[i].N;
Node n0 = nodes[0];
Node n1 = nodes[1];
Node n2 = nodes[2];
n0.GetX(out vectors[v]);
n0.GetNormal(out vectors[v + 1]);
n1.GetX(out vectors[v + 2]);
n1.GetNormal(out vectors[v + 3]);
n2.GetX(out vectors[v + 4]);
n2.GetNormal(out vectors[v + 5]);
v += 6;
}
shapeData.SetDynamicVertexBuffer(device, vectors);
}
else
{
AlignedTetraArray tetras = softBody.Tetras;
int tetraCount = tetras.Count;
if (tetraCount != 0)
{
shapeData.VertexCount = tetraCount * 12;
Vector3[] vectors = new Vector3[tetraCount * 24];
int v = 0;
for (int i = 0; i < tetraCount; i++)
{
NodePtrArray nodes = tetras[i].Nodes;
Vector3 v0 = nodes[0].X;
Vector3 v1 = nodes[1].X;
Vector3 v2 = nodes[2].X;
Vector3 v3 = nodes[3].X;
Vector3 v10 = v1 - v0;
Vector3 v02 = v0 - v2;
Vector3 normal = Vector3.Cross(v10, v02);
vectors[v] = v0;
vectors[v + 1] = normal;
vectors[v + 2] = v1;
vectors[v + 3] = normal;
vectors[v + 4] = v2;
vectors[v + 5] = normal;
normal = Vector3.Cross(v10, v3 - v0);
vectors[v + 6] = v0;
vectors[v + 7] = normal;
vectors[v + 8] = v1;
vectors[v + 9] = normal;
vectors[v + 10] = v3;
vectors[v + 11] = normal;
normal = Vector3.Cross(v2 - v1, v3 - v1);
vectors[v + 12] = v1;
vectors[v + 13] = normal;
vectors[v + 14] = v2;
vectors[v + 15] = normal;
vectors[v + 16] = v3;
vectors[v + 17] = normal;
normal = Vector3.Cross(v02, v3 - v2);
vectors[v + 18] = v2;
vectors[v + 19] = normal;
vectors[v + 20] = v0;
vectors[v + 21] = normal;
vectors[v + 22] = v3;
vectors[v + 23] = normal;
v += 24;
}
shapeData.SetDynamicVertexBuffer(device, vectors);
}
else if (softBody.Links.Count != 0)
{
AlignedLinkArray links = softBody.Links;
int linkCount = links.Count;
shapeData.VertexCount = linkCount * 2;
Vector3[] vectors = new Vector3[linkCount * 4];
for (int i = 0; i < linkCount; i++)
{
NodePtrArray nodes = links[i].Nodes;
nodes[0].GetX(out vectors[i * 4]);
nodes[1].GetX(out vectors[i * 4 + 2]);
}
shapeData.PrimitiveTopology = PrimitiveTopology.LineList;
shapeData.SetDynamicVertexBuffer(device, vectors);
}
else
{
throw new NotImplementedException();
}
}
}
