public PhysicsContactTestItem(int collisionFilterGroup, int collisionFilterMask, ModeEnum mode, Cylinder cylinder)
{
//cylinder works good without additional check for position of point on B.
//var geometry = cylinder;
//var offset = geometry.GetDirection() * 0.001;
//geometry.Point1 -= offset;
//geometry.Point2 += offset;
//geometry.Radius += 0.001;
var collisionObject = new CollisionObject();
if (cylinder.Point1.ToVector2().Equals(cylinder.Point2.ToVector2(), 0.0001))
{
collisionObject.CollisionShape = new BulletSharp.CylinderShapeZ(cylinder.Radius, cylinder.Radius, cylinder.GetLength() * 0.5);
collisionObject.WorldTransform = BulletPhysicsUtility.Convert(Matrix4.FromTranslate(cylinder.GetCenter()));
}
else
{
collisionObject.CollisionShape = new BulletSharp.CylinderShapeX(cylinder.GetLength() * 0.5, cylinder.Radius, cylinder.Radius);
collisionObject.WorldTransform = BulletPhysicsUtility.Convert(new Matrix4(Quaternion.FromDirectionZAxisUp(cylinder.GetDirection()).ToMatrix3(), cylinder.GetCenter()));
}
Construct(collisionFilterGroup, collisionFilterMask, mode, collisionObject, true, null); // point => geometry.Contains( point ) );
}
protected internal override CollisionShape CreateShape()
{
switch (Axis.Value)
{
case 1: return(new BulletSharp.ConeShape(BulletPhysicsUtility.Convert(Radius), BulletPhysicsUtility.Convert(Height)));
case 2: return(new BulletSharp.ConeShapeZ(BulletPhysicsUtility.Convert(Radius), BulletPhysicsUtility.Convert(Height)));
default: return(new BulletSharp.ConeShapeX(BulletPhysicsUtility.Convert(Radius), BulletPhysicsUtility.Convert(Height)));
}
}
public PhysicsContactTestItem(int collisionFilterGroup, int collisionFilterMask, ModeEnum mode, Bounds bounds)
{
var geometry = bounds;
geometry.Expand(0.001);
var collisionObject = new CollisionObject();
collisionObject.CollisionShape = new BulletSharp.BoxShape(BulletPhysicsUtility.Convert(bounds.GetSize() * 0.5));
collisionObject.WorldTransform = BulletPhysicsUtility.Convert(Matrix4.FromTranslate(bounds.GetCenter()));
Construct(collisionFilterGroup, collisionFilterMask, mode, collisionObject, true, point => geometry.Contains(point));
}
public PhysicsContactTestItem(int collisionFilterGroup, int collisionFilterMask, ModeEnum mode, Box box)
{
var geometry = box;
geometry.Extents += new Vector3(0.001, 0.001, 0.001);
var collisionObject = new CollisionObject();
collisionObject.CollisionShape = new BulletSharp.BoxShape(BulletPhysicsUtility.Convert(box.Extents));
collisionObject.WorldTransform = BulletPhysicsUtility.Convert(new Matrix4(box.Axis, box.Center));
Construct(collisionFilterGroup, collisionFilterMask, mode, collisionObject, true, point => geometry.Contains(point));
}
public PhysicsContactTestItem(int collisionFilterGroup, int collisionFilterMask, ModeEnum mode, Sphere sphere)
{
var geometry = sphere;
geometry.Radius += 0.001;
var collisionObject = new CollisionObject();
collisionObject.CollisionShape = new BulletSharp.SphereShape(sphere.Radius);
collisionObject.WorldTransform = Matrix.Translation(BulletPhysicsUtility.Convert(sphere.Origin));
Construct(collisionFilterGroup, collisionFilterMask, mode, collisionObject, true, point => geometry.Contains(point));
}
protected internal override CollisionShape CreateShape()
{
BulletSharp.Math.Vector3 v = BulletPhysicsUtility.Convert(new Vector3(Radius, Radius, Height * .5));
switch (Axis.Value)
{
case 1: return(new BulletSharp.CylinderShape(v));
case 2: return(new BulletSharp.CylinderShapeZ(v));
default: return(new BulletSharp.CylinderShapeX(v));
}
}
public override void DrawLine(ref BulletSharp.Math.Vector3 from, ref BulletSharp.Math.Vector3 to, ref BulletSharp.Math.Vector3 color)
{
if (verticesRenderedCounterLimit != -1 && verticesRenderedCounter > verticesRenderedCounterLimit)
{
return;
}
renderer.SetColor(new ColorValue(BulletPhysicsUtility.Convert(color)));
renderer.AddLineThin(BulletPhysicsUtility.Convert(from), BulletPhysicsUtility.Convert(to));
unchecked
{
verticesRenderedCounter += 2;
}
}
public PhysicsConvexSweepTestItem(Matrix4 from, Matrix4 to, int collisionFilterGroup, int collisionFilterMask, ModeEnum mode, Box box)
{
this.originalFrom = from;
this.originalTo = to;
this.CollisionFilterGroup = collisionFilterGroup;
this.CollisionFilterMask = collisionFilterMask;
this.Mode = mode;
Matrix4 offset = new Matrix4(box.Axis, box.Center);
transformedFrom = originalFrom * offset;
transformedTo = originalTo * offset;
Shape = new BulletSharp.BoxShape(BulletPhysicsUtility.Convert(box.Extents));
ShapeAutoDispose = true;
}
public PhysicsContactTestItem(int collisionFilterGroup, int collisionFilterMask, ModeEnum mode, Capsule capsule)
{
var geometry = capsule;
geometry.Radius += 0.001;
var collisionObject = new CollisionObject();
if (capsule.Point1.ToVector2().Equals(capsule.Point2.ToVector2(), 0.0001))
{
collisionObject.CollisionShape = new BulletSharp.CapsuleShapeZ(capsule.Radius, capsule.GetLength());
collisionObject.WorldTransform = BulletPhysicsUtility.Convert(Matrix4.FromTranslate(capsule.GetCenter()));
}
else
{
collisionObject.CollisionShape = new BulletSharp.CapsuleShapeX(capsule.Radius, capsule.GetLength());
collisionObject.WorldTransform = BulletPhysicsUtility.Convert(new Matrix4(Quaternion.FromDirectionZAxisUp(capsule.GetDirection()).ToMatrix3(), capsule.GetCenter()));
}
Construct(collisionFilterGroup, collisionFilterMask, mode, collisionObject, true, point => geometry.Contains(point));
}
public PhysicsConvexSweepTestItem(Matrix4 from, Matrix4 to, int collisionFilterGroup, int collisionFilterMask, ModeEnum mode, Bounds bounds)
{
this.originalFrom = from;
this.originalTo = to;
this.CollisionFilterGroup = collisionFilterGroup;
this.CollisionFilterMask = collisionFilterMask;
this.Mode = mode;
transformedFrom = originalFrom;
transformedTo = originalTo;
Vector3 offset = bounds.GetCenter();
if (!offset.Equals(Vector3.Zero, MathEx.Epsilon))
{
transformedFrom.SetTranslation(transformedFrom.GetTranslation() + offset);
transformedTo.SetTranslation(transformedTo.GetTranslation() + offset);
}
var halfSize = bounds.GetSize() / 2;
Shape = new BulletSharp.BoxShape(BulletPhysicsUtility.Convert(halfSize));
ShapeAutoDispose = true;
}
protected internal override CollisionShape CreateShape()
{
var epsilon = 0.0001f;
//clear data
processedVertices = null;
processedIndices = null;
processedTrianglesToSourceIndex = null;
//get source geometry
if (!GetSourceData(out var sourceVertices, out var sourceIndices))
{
return(null);
}
//check valid data
if (CheckValidData)
{
if (!MathAlgorithms.CheckValidVertexIndexBuffer(sourceVertices.Length, sourceIndices, false))
{
Log.Info("Component_CollisionShape_Mesh: CreateShape: Invalid source data.");
return(null);
}
}
//process geometry
if (MergeEqualVerticesRemoveInvalidTriangles)
{
//!!!!slowly. later use cached precalculated bullet shape.
MathAlgorithms.MergeEqualVerticesRemoveInvalidTriangles(sourceVertices, sourceIndices, epsilon, out processedVertices, out processedIndices, out processedTrianglesToSourceIndex);
}
else
{
processedVertices = sourceVertices;
processedIndices = sourceIndices;
}
//create bullet shape
if (ShapeType.Value == ShapeTypeEnum.Auto && ParentRigidBody.MotionType.Value == Component_RigidBody.MotionTypeEnum.Dynamic && MathAlgorithms.IsMeshConvex(processedVertices, processedIndices, epsilon) || ShapeType.Value == ShapeTypeEnum.Convex)
{
if (MathAlgorithms.IsPlaneMesh(processedVertices, processedIndices, epsilon))
{
Log.Info("Component_CollisionShape_Mesh: CreateShape: Unable to create shape as convex hull. All vertices on the one plane.");
return(null);
}
//!!!!тут иначе? возможно лучше получить результирующие processed данные из буллета. как получить processedTrianglesToSourceIndex - это вопрос. возможно ли?
//если нельзя то processedTrianglesToSourceIndex = new int[ 0 ]; - что означает нельзя сконвертировать.
//если processedTrianglesToSourceIndex == null, то конвертация 1:1.
try
{
ConvexHullAlgorithm.Create(processedVertices.ToVector3Array(), processedIndices, out var processedVertices2, out processedIndices);
processedVertices = processedVertices2.ToVector3FArray();
//var convex = ConvexHullAlgorithm.Create( processedVertices, processedIndices );
//var vlist = new List<Vec3F>( convex.Faces.Length * 3 );
//foreach( var f in convex.Faces )
// for( int v = 0; v < f.Vertices.Length; v++ )
// vlist.Add( f.Vertices[ v ].ToVec3F() );
//processedVertices = vlist.ToArray();
//processedIndices = null;
//BulletUtils.GetHullVertices( processedVertices.ToVec3Array(), processedIndices, out var processedVertices2, out processedIndices );
//processedVertices = processedVertices2.ToVec3FArray();
//BulletUtils.GetHullVertices( processedVertices, processedIndices, out processedVertices, out processedIndices );
//если нельзя то processedTrianglesToSourceIndex = new int[ 0 ]; - что означает нельзя сконвертировать.
processedTrianglesToSourceIndex = Array.Empty <int>();
}
catch (Exception e)
{
Log.Info("Component_CollisionShape_Mesh: CreateShape: Unable to create shape as convex hull. " + e.Message);
return(null);
}
//!!!!
var processedVerticesBullet = BulletPhysicsUtility.Convert(processedVertices);
return(new ConvexHullShape(processedVerticesBullet));
}
else
{
//!!!проверки на ошибки данных
//!!!!can create without making of Vector3[] array. IntPtr constructor? internally the memory will copied?
indexVertexArrays = new TriangleIndexVertexArray(processedIndices, BulletPhysicsUtility.Convert(processedVertices));
//indexVertexArrays = new TriangleIndexVertexArray();
//var indexedMesh = new IndexedMesh();
//indexedMesh.Allocate( totalTriangles, totalVerts, triangleIndexStride, vertexStride );
//indexedMesh SetData( ICollection<int> triangles, ICollection<Vector3> vertices );
//indexVertexArrays.AddIndexedMesh( indexedMesh );
//!!!!расшаривать данные которые тут. одинаковые в разных объектах
//!!!!определять когда не считать кеш
//It is better to use "useQuantizedAabbCompression=true", because it makes the tree data structure 4 times smaller: sizeof( btOptimizedBvhNode ) = 64 and sizeof( btQuantizedBvhNode ) = 16 bytes.Note that the number of AABB tree nodes is twice the number of triangles.
//Instead of creating the tree on the XBox 360 console, it is better to deserialize it directly from disk to memory. See btOptimizedBvh::deSerializeInPlace in Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
//без useQuantizedAabbCompression в три раза быстрее создается
//!!!!enable when cache support
bool useQuantizedAabbCompression = false;
//bool useQuantizedAabbCompression = true;
bool buildBvh = true;
//!!!!в другом конструкторе можно еще указать какие-то bound min max
//public BvhTriangleMeshShape( StridingMeshInterface meshInterface, bool useQuantizedAabbCompression, Vector3 bvhAabbMin, Vector3 bvhAabbMax, bool buildBvh = true );
return(new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression, buildBvh));
}
}
protected internal override CollisionShape CreateShape()
{
return(new BulletSharp.SphereShape(BulletPhysicsUtility.Convert(Radius)));
}
protected internal override CollisionShape CreateShape()
{
return(new BulletSharp.BoxShape(BulletPhysicsUtility.Convert(Dimensions.Value / 2)));
}
