public MeshColliderShape(Simulation simulation, Vector3[] vertices,
int[] indices, Vector3 scaling)
{
Vertices = vertices;
Indices = indices;
simulation.BufferPool.Take <Triangle>(indices.Length / 3, out var triangles);
for (int i = 0; i < triangles.Length; ++i)
{
var i1 = indices[(i * 3) + 0];
var i2 = indices[(i * 3) + 1];
var i3 = indices[(i * 3) + 2];
var vert1 = vertices[i1];
var vert2 = vertices[i2];
var vert3 = vertices[i3];
triangles[i] = new Triangle(
new System.Numerics.Vector3(vert1.X, vert1.Y, vert1.Z),
new System.Numerics.Vector3(vert2.X, vert2.Y, vert2.Z),
new System.Numerics.Vector3(vert3.X, vert3.Y, vert3.Z));
}
var mesh = new Mesh(triangles,
new System.Numerics.Vector3(scaling.X, scaling.Y, scaling.Z), simulation.BufferPool);
InternalShape = mesh;
InternalShapeIndex = simulation.AddShape(mesh);
DebugPrimitiveMatrix = Matrix.Scaling(Vector3.One * DebugScaling);
}
public BoxColliderShape(Simulation simulation, Vector3 size)
{
var box = new Box(size.X, size.Y, size.Z);
InternalShape = box;
InternalShapeIndex = simulation.AddShape(box);
DebugPrimitiveMatrix = Matrix.Scaling(size * DebugScaling);
}
public SphereColliderShape(Simulation simulation, float radius)
{
Radius = radius;
var sphere = new Sphere(radius);
InternalShape = sphere;
InternalShapeIndex = simulation.AddShape(sphere);
DebugPrimitiveMatrix = Matrix.Scaling(new Vector3(DebugScaling));
}
public CylinderColliderShape(Simulation simulation, float radius, float length)
{
Radius = radius;
Length = length;
var cylinder = new Cylinder(radius, length);
InternalShape = cylinder;
InternalShapeIndex = simulation.AddShape(cylinder);
DebugPrimitiveMatrix = Matrix.Scaling(new Vector3(Radius * 2, Length, Radius * 2) * DebugScaling);
}
public CapsuleColliderShape(Simulation simulation, float radius, float length)
{
Radius = radius;
Length = length;
var capsule = new Capsule(radius, length);
InternalShape = capsule;
InternalShapeIndex = simulation.AddShape(capsule);
DebugPrimitiveMatrix = Matrix.Scaling(new Vector3(DebugScaling));
}