private float?ProcessTriangle(int triangleIndex)
{
System.Diagnostics.Debug.Assert((int)m_flags != 0);
MyTriangle_Vertexes triangle;
MyTriangleVertexIndices triangleIndices = m_model.Triangles[triangleIndex];
m_model.GetVertex(triangleIndices.I0, triangleIndices.I2, triangleIndices.I1, out triangle.Vertex0, out triangle.Vertex1, out triangle.Vertex2);
Vector3 calculatedTriangleNormal = MyUtils.GetNormalVectorFromTriangle(ref triangle);
//We dont want backside intersections
if (((int)(m_flags & IntersectionFlags.FLIPPED_TRIANGLES) == 0) &&
Vector3.Dot(m_line.Direction, calculatedTriangleNormal) > 0)
{
return(null);
}
Line lineF = (Line)m_line;
float?distance = MyUtils.GetLineTriangleIntersection(ref lineF, ref triangle);
// If intersection occured and if distance to intersection is closer to origin than any previous intersection
if ((distance != null) && ((m_result == null) || (distance.Value < m_result.Value.Distance)))
{
// We need to remember original triangleVertexes coordinates (not transformed by world matrix)
m_result = new MyIntersectionResultLineTriangle(ref triangle, ref calculatedTriangleNormal, distance.Value);
return(distance.Value);
}
return(null);
}
private float?ProcessTriangle(int triangleIndex)
{
System.Diagnostics.Debug.Assert((int)m_flags != 0);
MyTriangle_Vertexes triangle;
MyTriangleVertexIndices triangleIndices = m_model.Triangles[triangleIndex];
m_model.GetVertex(triangleIndices.I0, triangleIndices.I2, triangleIndices.I1, out triangle.Vertex0, out triangle.Vertex1, out triangle.Vertex2);
Vector3 calculatedTriangleNormal = MyUtils.GetNormalVectorFromTriangle(ref triangle);
//We dont want backside intersections
if (((int)(m_flags & IntersectionFlags.FLIPPED_TRIANGLES) == 0) &&
Vector3.Dot(m_line.Direction, calculatedTriangleNormal) > 0)
{
return(null);
}
Line lineF = (Line)m_line;
float?distance = MyUtils.GetLineTriangleIntersection(ref lineF, ref triangle);
if (distance.HasValue)
{
var result = new MyIntersectionResultLineTriangle(ref triangle, ref calculatedTriangleNormal, distance.Value);
m_result.Add(result);
}
return(distance);
}
IPhysicsMesh CreatePhysicsMesh(MyModel model)
{
IPhysicsMesh physicsMesh = new MyPhysicsMesh();
physicsMesh.SetAABB(model.BoundingBox.Min, model.BoundingBox.Max);
for (int v = 0; v < model.GetVerticesCount(); v++)
{
Vector3 vertex = model.GetVertex(v);
Vector3 normal = model.GetVertexNormal(v);
Vector3 tangent = model.GetVertexTangent(v);
if (model.TexCoords == null)
model.LoadTexCoordData();
Vector2 texCoord = model.TexCoords[v].ToVector2();
physicsMesh.AddVertex(vertex, normal, tangent, texCoord);
}
for (int i = 0; i < model.Indices16.Length; i++)
{
physicsMesh.AddIndex(model.Indices16[i]);
}
for (int i = 0; i < model.GetMeshList().Count; i++)
{
var mesh = model.GetMeshList()[i];
physicsMesh.AddSectionData(mesh.IndexStart, mesh.TriCount, mesh.Material.Name);
}
return physicsMesh;
}
// Return true if object intersects specified sphere.
// This method doesn't return exact point of intersection or any additional data.
// We don't look for closest intersection - so we stop on first intersection found.
// IMPORTANT: Sphere must be in model space, so don't transform it!
public bool GetIntersectionWithSphere(MyModel model, ref BoundingSphereD sphere)
{
// Check if sphere intersects bounding box of this node
if (m_boundingBox.Intersects(ref sphere) == false)
{
return false;
}
// temporary variable for storing tirngle boundingbox info
BoundingBox triangleBoundingBox = new BoundingBox();
// Triangles that are directly in this node
for (int i = 0; i < m_triangleIndices.Count; i++)
{
int triangleIndex = m_triangleIndices[i];
model.GetTriangleBoundingBox(triangleIndex, ref triangleBoundingBox);
// First test intersection of triangleVertexes's bounding box with bounding sphere. And only if they overlap or intersect, do further intersection tests.
if (triangleBoundingBox.Intersects(ref sphere))
{
// See that we swaped vertex indices!!
MyTriangle_Vertexes triangle;
MyTriangleVertexIndices triangleIndices = model.Triangles[triangleIndex];
triangle.Vertex0 = model.GetVertex(triangleIndices.I0);
triangle.Vertex1 = model.GetVertex(triangleIndices.I2);
triangle.Vertex2 = model.GetVertex(triangleIndices.I1);
PlaneD trianglePlane = new PlaneD(triangle.Vertex0, triangle.Vertex1, triangle.Vertex2);
if (MyUtils.GetSphereTriangleIntersection(ref sphere, ref trianglePlane, ref triangle) != null)
{
// If we found intersection we can stop and dont need to look further
return true;
}
}
}
// Get intersection with childs of this node
if (m_childs != null)
{
for (int i = 0; i < m_childs.Count; i++)
{
if (m_childs[i].GetIntersectionWithSphere(model, ref sphere))
{
return true;
}
}
}
return false;
}
public void GetTrianglesIntersectingSphere(MyModel model, ref BoundingSphereD sphere, Vector3? referenceNormalVector, float? maxAngle, List<MyTriangle_Vertex_Normals> retTriangles, int maxNeighbourTriangles)
{
// Check if sphere intersects bounding box of this node
//if (m_boundingBox.Contains(sphere) == ContainmentType.Disjoint) return;
if (m_boundingBox.Intersects(ref sphere) == false) return;
// temporary variable for storing tirngle boundingbox info
BoundingBox triangleBoundingBox = new BoundingBox();
// Triangles that are directly in this node
for (int i = 0; i < m_triangleIndices.Count; i++)
{
// If we reached end of the buffer of neighbour triangles, we stop adding new ones. This is better behavior than throwing exception because of array overflow.
if (retTriangles.Count == maxNeighbourTriangles) return;
int triangleIndex = m_triangleIndices[i];
model.GetTriangleBoundingBox(triangleIndex, ref triangleBoundingBox);
// First test intersection of triangleVertexes's bounding box with bounding sphere. And only if they overlap or intersect, do further intersection tests.
if (triangleBoundingBox.Intersects(ref sphere))
{
//if (m_triangleIndices[value] != ignoreTriangleWithIndex)
{
// See that we swaped vertex indices!!
MyTriangle_Vertexes triangle;
MyTriangle_Normals triangleNormals;
//MyTriangle_Normals triangleTangents;
MyTriangleVertexIndices triangleIndices = model.Triangles[triangleIndex];
triangle.Vertex0 = model.GetVertex(triangleIndices.I0);
triangle.Vertex1 = model.GetVertex(triangleIndices.I2);
triangle.Vertex2 = model.GetVertex(triangleIndices.I1);
triangleNormals.Normal0 = model.GetVertexNormal(triangleIndices.I0);
triangleNormals.Normal1 = model.GetVertexNormal(triangleIndices.I2);
triangleNormals.Normal2 = model.GetVertexNormal(triangleIndices.I1);
/*
triangleTangents.Normal0 = model.GetVertexTangent(triangleIndices.I0);
triangleTangents.Normal1 = model.GetVertexTangent(triangleIndices.I2);
triangleTangents.Normal2 = model.GetVertexTangent(triangleIndices.I1);
*/
PlaneD trianglePlane = new PlaneD(triangle.Vertex0, triangle.Vertex1, triangle.Vertex2);
if (MyUtils.GetSphereTriangleIntersection(ref sphere, ref trianglePlane, ref triangle) != null)
{
Vector3 triangleNormal = MyUtils.GetNormalVectorFromTriangle(ref triangle);
if ((referenceNormalVector.HasValue == false) || (maxAngle.HasValue == false) ||
((MyUtils.GetAngleBetweenVectors(referenceNormalVector.Value, triangleNormal) <= maxAngle)))
{
MyTriangle_Vertex_Normals retTriangle;
retTriangle.Vertices = triangle;
retTriangle.Normals = triangleNormals;
// retTriangle.Tangents = triangleTangents;
retTriangles.Add(retTriangle);
}
}
}
}
}
// Get intersection with childs of this node
if (m_childs != null)
{
for (int i = 0; i < m_childs.Count; i++)
{
//m_childs[value].GetTrianglesIntersectingSphere(physObject, ref sphere, referenceNormalVector, maxAngle, ignoreTriangleWithIndex, retTriangles, maxNeighbourTriangles);
m_childs[i].GetTrianglesIntersectingSphere(model, ref sphere, referenceNormalVector, maxAngle, retTriangles, maxNeighbourTriangles);
}
}
}
// Finds intersection between line and model, using octree for speedup the lookup.
// Another speedup is, that first we check triangles that are directly in the node and then start
// checking node's childs. But only if child node instersection is less than last know min distance.
MyIntersectionResultLineTriangle? GetIntersectionWithLineRecursive(MyModel model, ref LineD line, double? minDistanceUntilNow)
{
// Check if line intersects bounding box of this node and if distance to bounding box is less then last know min distance
Line lineF = (Line)line;
double? distanceToBoundingBox = MyUtils.GetLineBoundingBoxIntersection(ref lineF, ref m_boundingBox);
if ((distanceToBoundingBox.HasValue == false) || ((minDistanceUntilNow != null) && (minDistanceUntilNow < distanceToBoundingBox.Value))) return null;
// Triangles that are directly in this node
MyIntersectionResultLineTriangle? foundIntersection = null;
// temporary variable for storing tirngle boundingbox info
BoundingBox triangleBoundingBox = new BoundingBox();
BoundingBox lineBB = BoundingBox.CreateInvalid();
lineBB = lineBB.Include(line.From);
lineBB = lineBB.Include(line.To);
for (int i = 0; i < m_triangleIndices.Count; i++)
{
int triangleIndex = m_triangleIndices[i];
model.GetTriangleBoundingBox(triangleIndex, ref triangleBoundingBox);
// First test intersection of triangleVertexes's bounding box with line's bounding box. And only if they overlap or intersect, do further intersection tests.
if (triangleBoundingBox.Intersects(ref lineBB))
{
// See that we swaped vertex indices!!
MyTriangle_Vertexes triangle;
MyTriangleVertexIndices triangleIndices = model.Triangles[triangleIndex];
triangle.Vertex0 = model.GetVertex(triangleIndices.I0);
triangle.Vertex1 = model.GetVertex(triangleIndices.I2);
triangle.Vertex2 = model.GetVertex(triangleIndices.I1);
double? distance = MyUtils.GetLineTriangleIntersection(ref lineF, ref triangle);
// If intersection occured and if distance to intersection is closer to origin than any previous intersection
if ((distance != null) && ((foundIntersection == null) || (distance.Value < foundIntersection.Value.Distance)))
{
Vector3 calculatedTriangleNormal = MyUtils.GetNormalVectorFromTriangle(ref triangle);
// We need to remember original triangleVertexes coordinates (not transformed by world matrix)
foundIntersection = new MyIntersectionResultLineTriangle(ref triangle, ref calculatedTriangleNormal, distance.Value);
}
}
}
// Get intersection with childs of this node
if (m_childs != null)
{
for (int i = 0; i < m_childs.Count; i++)
{
MyIntersectionResultLineTriangle? childIntersection = m_childs[i].GetIntersectionWithLineRecursive(model, ref line,
(foundIntersection == null) ? (double?)null : foundIntersection.Value.Distance);
// If intersection occured and if distance to intersection is closer to origin than any previous intersection
foundIntersection = MyIntersectionResultLineTriangle.GetCloserIntersection(ref foundIntersection, ref childIntersection);
}
}
return foundIntersection;
}
private static void ExtractModelDataForObj(
MyModel model,
Matrix matrix,
List<Vector3> vertices,
List<TriangleWithMaterial> triangles,
List<Vector2> uvs,
ref Vector2 offsetUV,
Dictionary<string, MyExportModel.Material> materials,
ref int currVerticesCount,
Vector3 colorMaskHSV)
{
if (false == model.HasUV)
{
model.LoadUV = true;
model.UnloadData();
model.LoadData();
}
MyExportModel renderModel = new MyExportModel(model);
int modelVerticesCount = renderModel.GetVerticesCount();
List<HalfVector2> modelUVs = GetUVsForModel(renderModel, modelVerticesCount);
Debug.Assert(modelUVs.Count == modelVerticesCount, "wrong UVs for model");
if (modelUVs.Count != modelVerticesCount)
{
return;
}
//we need new material for every HSV and texture combination, therefore we need to create new materials for each model
List<MyExportModel.Material> newModelMaterials = CreateMaterialsForModel(materials, colorMaskHSV, renderModel);
for (int i = 0; i < modelVerticesCount; ++i)
{
vertices.Add(Vector3.Transform(model.GetVertex(i), matrix));
Vector2 localUV = modelUVs[i].ToVector2()/model.PatternScale + offsetUV;
uvs.Add(new Vector2(localUV.X, -localUV.Y));
}
for (int i = 0; i < renderModel.GetTrianglesCount(); ++i)
{
int matID = -1;
for (int j = 0; j < newModelMaterials.Count; ++j)
{
if (i <= newModelMaterials[j].LastTri)
{
matID = j;
break;
}
}
Debug.Assert(matID != -1, "Triangle with no material");
var t = renderModel.GetTriangle(i);
string materialName = "EmptyMaterial";
if (matID != -1)
{
materialName = newModelMaterials[matID].Name;
}
triangles.Add(new TriangleWithMaterial()
{
triangle = new MyTriangleVertexIndices(t.I0 + 1 + currVerticesCount, t.I1 + 1 + currVerticesCount, t.I2 + 1 + currVerticesCount),
material = materialName,
});
}
currVerticesCount += modelVerticesCount;
}
HkShape CreateShape(MyModel model, HkShapeType shapeType)
{
switch(shapeType)
{
case HkShapeType.Box:
Vector3 halfExtents = (model.BoundingBox.Max - model.BoundingBox.Min) / 2;
return new HkBoxShape(Vector3.Max(halfExtents - 0.1f, new Vector3(0.05f)), 0.02f);
break;
case HkShapeType.Sphere:
return new HkSphereShape(model.BoundingSphere.Radius);
break;
case HkShapeType.ConvexVertices:
m_tmpVerts.Clear();
for (int i = 0; i < model.GetVerticesCount(); i++)
{
m_tmpVerts.Add(model.GetVertex(i));
}
return new HkConvexVerticesShape(m_tmpVerts.GetInternalArray(), m_tmpVerts.Count, true, 0.1f);
break;
}
throw new InvalidOperationException("This shape is not supported");
}
public void GetTrianglesIntersectingSphere(ref BoundingSphereD sphere, Vector3?referenceNormalVector, float?maxAngle, List <MyTriangle_Vertex_Normals> retTriangles, int maxNeighbourTriangles)
{
var aabb = BoundingBox.CreateInvalid();
BoundingSphere sphereF = (BoundingSphere)sphere;
aabb.Include(ref sphereF);
AABB gi_aabb = new AABB(aabb.Min.ToBullet(), aabb.Max.ToBullet());
m_overlappedTriangles.Clear();
if (m_bvh.BoxQuery(ref gi_aabb, m_overlappedTriangles))
{
// temporary variable for storing tirngle boundingbox info
BoundingBox triangleBoundingBox = new BoundingBox();
for (int i = 0; i < m_overlappedTriangles.Count; i++)
{
var triangleIndex = m_overlappedTriangles[i];
// If we reached end of the buffer of neighbour triangles, we stop adding new ones. This is better behavior than throwing exception because of array overflow.
if (retTriangles.Count == maxNeighbourTriangles)
{
return;
}
m_model.GetTriangleBoundingBox(triangleIndex, ref triangleBoundingBox);
// First test intersection of triangleVertexes's bounding box with bounding sphere. And only if they overlap or intersect, do further intersection tests.
if (triangleBoundingBox.Intersects(ref sphere))
{
//if (m_triangleIndices[value] != ignoreTriangleWithIndex)
{
// See that we swaped vertex indices!!
MyTriangle_Vertexes triangle;
MyTriangle_Normals triangleNormals;
//MyTriangle_Normals triangleTangents;
MyTriangleVertexIndices triangleIndices = m_model.Triangles[triangleIndex];
m_model.GetVertex(triangleIndices.I0, triangleIndices.I2, triangleIndices.I1, out triangle.Vertex0, out triangle.Vertex1, out triangle.Vertex2);
/*
* triangle.Vertex0 = m_model.GetVertex(triangleIndices.I0);
* triangle.Vertex1 = m_model.GetVertex(triangleIndices.I2);
* triangle.Vertex2 = m_model.GetVertex(triangleIndices.I1);
*/
triangleNormals.Normal0 = m_model.GetVertexNormal(triangleIndices.I0);
triangleNormals.Normal1 = m_model.GetVertexNormal(triangleIndices.I2);
triangleNormals.Normal2 = m_model.GetVertexNormal(triangleIndices.I1);
PlaneD trianglePlane = new PlaneD(triangle.Vertex0, triangle.Vertex1, triangle.Vertex2);
if (MyUtils.GetSphereTriangleIntersection(ref sphere, ref trianglePlane, ref triangle) != null)
{
Vector3 triangleNormal = MyUtils.GetNormalVectorFromTriangle(ref triangle);
if ((referenceNormalVector.HasValue == false) || (maxAngle.HasValue == false) ||
((MyUtils.GetAngleBetweenVectors(referenceNormalVector.Value, triangleNormal) <= maxAngle)))
{
MyTriangle_Vertex_Normals retTriangle;
retTriangle.Vertices = triangle;
retTriangle.Normals = triangleNormals;
retTriangles.Add(retTriangle);
}
}
}
}
}
}
}