private static CollisionShape loadConvexHull(Mesh mesh, Vector3 scale)
{
TriangleMesh trimesh = new TriangleMesh();
// Shift vertices in so margin is not visible
Vector3 shift = Vector3.Normalize(scale) - new Vector3(0.04f);
for (int i = 0; i < mesh.submeshes[0].vertex_data.Length; i += 3)
{
int index0 = (int)mesh.submeshes[0].index_data[i];
int index1 = (int)mesh.submeshes[0].index_data[i + 1];
int index2 = (int)mesh.submeshes[0].index_data[i + 2];
Vector3 vertex0 = new Vector3(mesh.submeshes[0].vertex_data[index0].position.X, mesh.submeshes[0].vertex_data[index0].position.Y, mesh.submeshes[0].vertex_data[index0].position.Z) * (scale);
//vertex0 *= shift;
Vector3 vertex1 = new Vector3(mesh.submeshes[0].vertex_data[index1].position.X, mesh.submeshes[0].vertex_data[index1].position.Y, mesh.submeshes[0].vertex_data[index1].position.Z) * (scale);
//vertex1 *= shift;
Vector3 vertex2 = new Vector3(mesh.submeshes[0].vertex_data[index2].position.X, mesh.submeshes[0].vertex_data[index2].position.Y, mesh.submeshes[0].vertex_data[index2].position.Z) * (scale);
//vertex2 *= shift;
trimesh.AddTriangle(vertex0, vertex1, vertex2);
}
ConvexShape tmpShape = new ConvexTriangleMeshShape(trimesh);
ShapeHull hull = new ShapeHull(tmpShape);
float margin = tmpShape.Margin;
hull.BuildHull(margin);
tmpShape.UserObject = hull;
ConvexHullShape convexShape = new ConvexHullShape();
foreach (Vector3 v in hull.Vertices)
{
convexShape.AddPoint(v);
}
hull.Dispose();
tmpShape.Dispose();
return(convexShape);
}
public static Vector3[] CreateConvexHull(ConvexHullShape shape)
{
var hull = new ShapeHull(shape);
hull.BuildHull(shape.Margin);
int vertexCount = hull.NumIndices;
UIntArray indices = hull.Indices;
Vector3Array points = hull.Vertices;
var vertices = new Vector3[vertexCount * 2];
int v = 0;
for (int i = 0; i < vertexCount; 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;
}
hull.Dispose();
return(vertices);
}