private void ConvertGeometry(Mesh mesh)
{
Vector3[] vertices = mesh.vertices;
int[] triangles = mesh.triangles;
MiddleVRTools.Log(3, "PhysicsBody: Number of vertices: " + vertices.Length);
MiddleVRTools.Log(3, "PhysicsBody: Number of Triangles: " + triangles.Length);
// We will reuse the same vectors to avoid many memory allocations.
Vector3 vertexPos = new Vector3();
vrVec3 vPos = new vrVec3();
// We compute a matrix to scale vertices according to their world
// coordinates, so this scale depends on the scales of the GameObject
// parents. Matrices 4x4 are used because matrices 3x3 aren't available.
vrMatrix worldMatrix = MVRTools.RawFromUnity(transform.localToWorldMatrix);
worldMatrix.SetCol(3, new vrVec4(0.0f, 0.0f, 0.0f, 0.0f));
worldMatrix.SetRow(3, new vrVec4(0.0f, 0.0f, 0.0f, 0.0f));
vrQuat invRotWorlQ = worldMatrix.GetRotation();
invRotWorlQ = invRotWorlQ.Normalize().GetInverse();
vrMatrix invRotWorldMatrix = new vrMatrix();
invRotWorldMatrix.SetRotation(invRotWorlQ);
invRotWorldMatrix.SetCol(3, new vrVec4(0.0f, 0.0f, 0.0f, 0.0f));
invRotWorldMatrix.SetRow(3, new vrVec4(0.0f, 0.0f, 0.0f, 0.0f));
vrMatrix scaleWorldMatrix = invRotWorldMatrix.Mult(worldMatrix);
Matrix4x4 scaleWorldMatrixUnity = MiddleVRTools.RawToUnity(scaleWorldMatrix);
foreach (Vector3 vertex in vertices)
{
vertexPos = scaleWorldMatrixUnity.MultiplyPoint3x4(vertex);
MiddleVRTools.FromUnity(vertexPos, ref vPos);
m_Geometry.AddVertex(vPos);
MiddleVRTools.Log(6, "PhysicsBody: Adding a vertex at position (" +
vPos.x() + ", " + vPos.y() + ", " + vPos.z() + ").");
}
for (int i = 0, iEnd = triangles.Length; i < iEnd; i += 3)
{
uint index0 = (uint)triangles[i];
uint index1 = (uint)triangles[i + 1];
uint index2 = (uint)triangles[i + 2];
m_Geometry.AddTriangle(index0, index1, index2);
MiddleVRTools.Log(6, "PhysicsBody: Adding a triangle with vertex indexes (" +
index0 + ", " + index1 + ", " + index2 + ").");
}
}