コード例 #1
0
        public void SetOptimizedBvh(OptimizedBvh bvh, ref IndexedVector3 scaling)
        {
            Debug.Assert(m_bvh == null);
            Debug.Assert(m_ownsBvh == false);

            m_bvh     = bvh;
            m_ownsBvh = false;
            // update the scaling without rebuilding the bvh
            if ((GetLocalScaling() - scaling).LengthSquared() > MathUtil.SIMD_EPSILON)
            {
                base.SetLocalScaling(ref scaling);
            }
        }
コード例 #2
0
 private void BuildOptimizedBvh()
 {
     if (m_ownsBvh)
     {
         m_bvh.Cleanup();
         m_bvh = null;
     }
     ///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
     //void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
     m_bvh = new OptimizedBvh();
     //rebuild the bvh...
     m_bvh.Build(m_meshInterface, m_useQuantizedAabbCompression, ref m_localAabbMin, ref m_localAabbMax);
     m_ownsBvh = true;
 }
コード例 #3
0
 private void BuildOptimizedBvh()
 {
     if (m_ownsBvh)
     {
         m_bvh.Cleanup();
         m_bvh = null;
     }
     ///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
     //void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
     m_bvh = new OptimizedBvh();
     //rebuild the bvh...
     m_bvh.Build(m_meshInterface, m_useQuantizedAabbCompression, ref m_localAabbMin, ref m_localAabbMax);
     m_ownsBvh = true;
 }
コード例 #4
0
        ///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
        public BvhTriangleMeshShape(StridingMeshInterface meshInterface, bool useQuantizedAabbCompression, ref IndexedVector3 bvhAabbMin, ref IndexedVector3 bvhAabbMax, bool buildBvh)
            : base(meshInterface)
        {
            m_bvh     = null;
            m_ownsBvh = false;
            m_useQuantizedAabbCompression = useQuantizedAabbCompression;
            m_shapeType = BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE;
#if !DISABLE_BVH
            if (buildBvh)
            {
                m_bvh = new OptimizedBvh();

                m_bvh.Build(meshInterface, m_useQuantizedAabbCompression, ref bvhAabbMin, ref bvhAabbMax);
                m_ownsBvh = true;
            }
#endif //DISABLE_BVH
        }
コード例 #5
0
        ///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
        public BvhTriangleMeshShape(StridingMeshInterface meshInterface, bool useQuantizedAabbCompression, ref IndexedVector3 bvhAabbMin, ref IndexedVector3 bvhAabbMax, bool buildBvh)
            : base(meshInterface)
        {
            m_bvh = null;
            m_ownsBvh = false;
            m_useQuantizedAabbCompression = useQuantizedAabbCompression;
            m_shapeType = BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE;
#if !DISABLE_BVH

            if (buildBvh)
            {
                m_bvh = new OptimizedBvh();

                m_bvh.Build(meshInterface, m_useQuantizedAabbCompression, ref bvhAabbMin, ref bvhAabbMax);
                m_ownsBvh = true;
            }

#endif //DISABLE_BVH

        }
コード例 #6
0
        public void SetOptimizedBvh(OptimizedBvh bvh, ref IndexedVector3 scaling)
        {
            Debug.Assert(m_bvh == null);
            Debug.Assert(m_ownsBvh == false);

            m_bvh = bvh;
            m_ownsBvh = false;
            // update the scaling without rebuilding the bvh
            if ((GetLocalScaling() - scaling).LengthSquared() > MathUtil.SIMD_EPSILON)
            {
                base.SetLocalScaling(ref scaling);
            }
        }
コード例 #7
0
ファイル: ConcaveDemo.cs プロジェクト: ousttrue/bullet-xna
		//-----------------------------------------------------------------------------------------------

		public override void InitializeDemo()
		{
			//string filename = @"C:\users\man\bullett\xna-concave-output.txt";
			//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
			//BulletGlobals.g_streamWriter = new StreamWriter(filestream);

            
            m_animatedMesh = true;
			base.InitializeDemo();
			int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);

            gVertices = new ObjectArray<IndexedVector3>(totalVerts);
			int indicesTotal = totalTriangles * 3;
            gIndices = new ObjectArray<int>(indicesTotal);

            //BulletGlobals.gContactAddedCallback = new CustomMaterialCombinerCallback();

			SetVertexPositions(waveheight,0f);

			int vertStride = 1;
			int indexStride = 3;

			int index=0;
			for (int i=0;i<NUM_VERTS_X-1;i++)
			{
				for (int j=0;j<NUM_VERTS_Y-1;j++)
				{
                    gIndices[index++] = j * NUM_VERTS_X + i;
                    gIndices[index++] = j * NUM_VERTS_X + i + 1;
                    gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;

                    gIndices[index++] = j * NUM_VERTS_X + i;
                    gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
                    gIndices[index++] = (j + 1) * NUM_VERTS_X + i;
				}
			}

            if (BulletGlobals.g_streamWriter != null)
            {
                index = 0;
                BulletGlobals.g_streamWriter.WriteLine("setIndexPositions");
                for (int i = 0; i < gIndices.Count; i++)
                {
                    BulletGlobals.g_streamWriter.WriteLine(String.Format("{0} {1}", i, gIndices[i]));
                }
            }


			TriangleIndexVertexArray indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
				gIndices,indexStride,totalVerts,gVertices,vertStride);

			bool useQuantizedAabbCompression = true;


            OptimizedBvh bvh = new OptimizedBvh();
	        IndexedVector3 aabbMin = new IndexedVector3(-1000,-1000,-1000);
	        IndexedVector3 aabbMax = new IndexedVector3(1000,1000,1000);

            m_trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression, ref aabbMin, ref aabbMax, true);
            //CollisionShape trimeshShape = new TriangleMeshShape(indexVertexArrays);

            IndexedVector3 scaling = IndexedVector3.One;
            //m_trimeshShape.SetOptimizedBvh(bvh, ref scaling);
            
			//BulletWorldImporter import = new BulletWorldImporter(0);//don't store info into the world
			//if (import.loadFile("myShape.bullet"))
			//{
			//    int numBvh = import.getNumBvhs();
			//    if (numBvh != 0)
			//    {
			//        OptimizedBvh bvh = import.getBvhByIndex(0);
			//        IndexedVector3 aabbMin = new IndexedVector3(-1000,-1000,-1000);
			//        IndexedVector3 aabbMax = new IndexedVector3(1000,1000,1000);
			
			//        trimeshShape = new indexVertexArrays,useQuantizedAabbCompression,ref aabbMin,ref aabbMax,false);
			//        IndexedVector3 scaling = IndexedVector3.One;
			//        trimeshShape.setOptimizedBvh(bvh, ref scaling);
			//        //trimeshShape  = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax);
			//        //trimeshShape.setOptimizedBvh(bvh);
			
			//    }
			//    int numShape = import.getNumCollisionShapes();
			//    if (numShape != 0)
			//    {
			//        trimeshShape = (BvhTriangleMeshShape)import.getCollisionShapeByIndex(0);
					
			//        //if you know the name, you can also try to get the shape by name:
			//        String meshName = import.getNameForPointer(trimeshShape);
			//        if (meshName != null)
			//        {
			//            trimeshShape = (BvhTriangleMeshShape)import.getCollisionShapeByName(meshName);
			//        }
					
			//    }
			//}


            //CollisionShape groundShape = trimeshShape;//m_trimeshShape;
            CollisionShape groundShape = m_trimeshShape;//m_trimeshShape;

            //groundShape = new TriangleShape(new IndexedVector3(0,` 0, 100), new IndexedVector3(100, 0, 0),new IndexedVector3(-100, 0, -100));
            //groundShape = new StaticPlaneShape(IndexedVector3.Up, 0f);
            //groundShape = new BoxShape(new IndexedVector3(100f, 0.1f, 100f));
            IndexedVector3 up = new IndexedVector3(0.4f,1,0);
            up.Normalize();
            //groundShape = new StaticPlaneShape(up, 0f);
            //groundShape = new TriangleMeshShape(indexVertexArrays);
            
			m_collisionConfiguration = new DefaultCollisionConfiguration();
			m_dispatcher = new	CollisionDispatcher(m_collisionConfiguration);

			IndexedVector3 worldMin = new IndexedVector3(-1000,-1000,-1000);
			IndexedVector3 worldMax = new IndexedVector3(1000,1000,1000);
            //m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
            m_broadphase = new DbvtBroadphase();
			m_constraintSolver = new SequentialImpulseConstraintSolver();
			m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);

			float mass = 0f;
			IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(2,-2,0));

            //CompoundShape colShape = new CompoundShape();
            //IndexedVector3 halfExtents = new IndexedVector3(4, 1, 1);
            //CollisionShape cylinderShape = new CylinderShapeX(ref halfExtents);
            //CollisionShape boxShape = new BoxShape(new IndexedVector3(4, 1, 1));
            //IndexedMatrix localTransform = IndexedMatrix.Identity;
            //colShape.addChildShape(ref localTransform, boxShape);
            //Quaternion orn = Quaternion.CreateFromYawPitchRoll(MathUtil.SIMD_HALF_PI, 0f, 0f);
            //localTransform = IndexedMatrix.CreateFromQuaternion(orn);
            //colShape.addChildShape(ref localTransform, cylinderShape);

            ////BoxShape colShape = new BoxShape(new IndexedVector3(1, 1, 1));


            //int numCollideObjects = 1;
            //m_collisionShapes.Add(colShape);
            //{
            //    for (int i = 0; i < numCollideObjects; i++)
            //    {
            //        startTransform._origin = new IndexedVector3(4,10+i*2,1);
            //        localCreateRigidBody(1, ref startTransform,colShape);
            //    }
            //}

			CollisionShape boxShape = new BoxShape(new IndexedVector3(1, 1, 1));
			//CollisionShape boxShape = new SphereShape(1);
            //CollisionShape boxShape = new SphereShape(1);
            //CollisionShape boxShape = new CapsuleShapeZ(0.5f, 1);
            m_collisionShapes.Add(boxShape);
            for (int i = 0; i < 1; i++)
            {
                startTransform._origin = new IndexedVector3(2f * i, 5, 1);
                LocalCreateRigidBody(1, ref startTransform, boxShape);
            }


			startTransform = IndexedMatrix.Identity;
			staticBody = LocalCreateRigidBody(mass, ref startTransform,groundShape);

			staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT);//STATIC_OBJECT);

			//enable custom material callback
			staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);

            //clientResetScene();
		}