public override void ConvexDecompResult(ConvexResult result) { TriangleMesh trimesh = new TriangleMesh(); demo.trimeshes.Add(trimesh); Vector3 localScaling = new Vector3(6.0f, 6.0f, 6.0f); if (output == null) return; output.WriteLine("## Hull Piece {0} with {1} vertices and {2} triangles.", mHullCount, result.mHullVertices.Length, result.mHullIndices.Length / 3); output.WriteLine("usemtl Material{0}", mBaseCount); output.WriteLine("o Object{0}", mBaseCount); foreach (Vector3 p in result.mHullVertices) { output.WriteLine(string.Format(floatFormat, "v {0:F9} {1:F9} {2:F9}", p.X, p.Y, p.Z)); } //calc centroid, to shift vertices around center of mass demo.centroid = Vector3.Zero; AlignedVector3Array vertices = new AlignedVector3Array(); if (true) { foreach (Vector3 vertex in result.mHullVertices) { demo.centroid += vertex * localScaling; } } demo.centroid /= (float)result.mHullVertices.Length; if (true) { foreach (Vector3 vertex in result.mHullVertices) { vertices.Add(vertex * localScaling - demo.centroid); } } if (true) { int[] src = result.mHullIndices; for (int i = 0; i < src.Length; i += 3) { int index0 = src[i]; int index1 = src[i + 1]; int index2 = src[i + 2]; Vector3 vertex0 = result.mHullVertices[index0] * localScaling - demo.centroid; Vector3 vertex1 = result.mHullVertices[index1] * localScaling - demo.centroid; Vector3 vertex2 = result.mHullVertices[index2] * localScaling - demo.centroid; trimesh.AddTriangle(vertex0, vertex1, vertex2); index0 += mBaseCount; index1 += mBaseCount; index2 += mBaseCount; output.WriteLine("f {0} {1} {2}", index0 + 1, index1 + 1, index2 + 1); } } //this is a tools issue: due to collision margin, convex objects overlap, compensate for it here: //#define SHRINK_OBJECT_INWARDS 1 #if SHRINK_OBJECT_INWARDS float collisionMargin = 0.01f; btAlignedObjectArray<btVector3> planeEquations; btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations); btAlignedObjectArray<btVector3> shiftedPlaneEquations; for (int p=0;p<planeEquations.size();p++) { btVector3 plane = planeEquations[p]; plane[3] += collisionMargin; shiftedPlaneEquations.push_back(plane); } btAlignedObjectArray<btVector3> shiftedVertices; btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices); btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size()); #else //SHRINK_OBJECT_INWARDS ConvexHullShape convexShape = new ConvexHullShape(vertices); #endif if (demo.sEnableSAT) { convexShape.InitializePolyhedralFeatures(); } convexShape.Margin = 0.01f; convexShapes.Add(convexShape); convexCentroids.Add(demo.centroid); demo.CollisionShapes.Add(convexShape); mBaseCount += result.mHullVertices.Length; // advance the 'base index' counter. }
protected override void OnInitializePhysics() { ManifoldPoint.ContactAdded += MyContactCallback; SetupEmptyDynamicsWorld(); WavefrontObj wo = new WavefrontObj(); int tcount = wo.LoadObj("data/file.obj"); if (tcount > 0) { TriangleMesh trimesh = new TriangleMesh(); trimeshes.Add(trimesh); Vector3 localScaling = new Vector3(6, 6, 6); List<int> indices = wo.Indices; List<Vector3> vertices = wo.Vertices; int i; for (i = 0; i < tcount; i++) { int index0 = indices[i * 3]; int index1 = indices[i * 3 + 1]; int index2 = indices[i * 3 + 2]; Vector3 vertex0 = vertices[index0] * localScaling; Vector3 vertex1 = vertices[index1] * localScaling; Vector3 vertex2 = vertices[index2] * localScaling; trimesh.AddTriangle(vertex0, vertex1, vertex2); } ConvexShape tmpConvexShape = new ConvexTriangleMeshShape(trimesh); //create a hull approximation ShapeHull hull = new ShapeHull(tmpConvexShape); float margin = tmpConvexShape.Margin; hull.BuildHull(margin); tmpConvexShape.UserObject = hull; ConvexHullShape convexShape = new ConvexHullShape(); foreach (Vector3 v in hull.Vertices) { convexShape.AddPoint(v); } if (sEnableSAT) { convexShape.InitializePolyhedralFeatures(); } tmpConvexShape.Dispose(); //hull.Dispose(); CollisionShapes.Add(convexShape); float mass = 1.0f; LocalCreateRigidBody(mass, Matrix.Translation(0, 2, 14), convexShape); const bool useQuantization = true; CollisionShape concaveShape = new BvhTriangleMeshShape(trimesh, useQuantization); LocalCreateRigidBody(0, Matrix.Translation(convexDecompositionObjectOffset), concaveShape); CollisionShapes.Add(concaveShape); // Bullet Convex Decomposition FileStream outputFile = new FileStream("file_convex.obj", FileMode.Create, FileAccess.Write); StreamWriter writer = new StreamWriter(outputFile); DecompDesc desc = new DecompDesc { mVertices = wo.Vertices.ToArray(), mTcount = tcount, mIndices = wo.Indices.ToArray(), mDepth = 5, mCpercent = 5, mPpercent = 15, mMaxVertices = 16, mSkinWidth = 0.0f }; MyConvexDecomposition convexDecomposition = new MyConvexDecomposition(writer, this); desc.mCallback = convexDecomposition; // HACD Hacd myHACD = new Hacd(); myHACD.SetPoints(wo.Vertices); myHACD.SetTriangles(wo.Indices); myHACD.CompacityWeight = 0.1; myHACD.VolumeWeight = 0.0; // HACD parameters // Recommended parameters: 2 100 0 0 0 0 int nClusters = 2; const double concavity = 100; //bool invert = false; const bool addExtraDistPoints = false; const bool addNeighboursDistPoints = false; const bool addFacesPoints = false; myHACD.NClusters = nClusters; // minimum number of clusters myHACD.VerticesPerConvexHull = 100; // max of 100 vertices per convex-hull myHACD.Concavity = concavity; // maximum concavity myHACD.AddExtraDistPoints = addExtraDistPoints; myHACD.AddNeighboursDistPoints = addNeighboursDistPoints; myHACD.AddFacesPoints = addFacesPoints; myHACD.Compute(); nClusters = myHACD.NClusters; myHACD.Save("output.wrl", false); if (true) { CompoundShape compound = new CompoundShape(); CollisionShapes.Add(compound); Matrix trans = Matrix.Identity; for (int c = 0; c < nClusters; c++) { //generate convex result Vector3[] points; int[] triangles; myHACD.GetCH(c, out points, out triangles); ConvexResult r = new ConvexResult(points, triangles); convexDecomposition.ConvexDecompResult(r); } for (i = 0; i < convexDecomposition.convexShapes.Count; i++) { Vector3 centroid = convexDecomposition.convexCentroids[i]; trans = Matrix.Translation(centroid); ConvexHullShape convexShape2 = convexDecomposition.convexShapes[i] as ConvexHullShape; compound.AddChildShape(trans, convexShape2); RigidBody body = LocalCreateRigidBody(1.0f, trans, convexShape2); } #if true mass = 10.0f; trans = Matrix.Translation(-convexDecompositionObjectOffset); RigidBody body2 = LocalCreateRigidBody(mass, trans, compound); body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback; convexDecompositionObjectOffset.Z = 6; trans = Matrix.Translation(-convexDecompositionObjectOffset); body2 = LocalCreateRigidBody(mass, trans, compound); body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback; convexDecompositionObjectOffset.Z = -6; trans = Matrix.Translation(-convexDecompositionObjectOffset); body2 = LocalCreateRigidBody(mass, trans, compound); body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback; #endif } writer.Dispose(); outputFile.Dispose(); } }
protected override void OnInitializePhysics() { ManifoldPoint.ContactAdded += MyContactCallback; SetupEmptyDynamicsWorld(); CompoundCollisionAlgorithm.CompoundChildShapePairCallback = MyCompoundChildShapeCallback; convexDecompositionObjectOffset = new Vector3(10, 0, 0); // Load wavefront file var wo = new WavefrontObj(); int tcount = wo.LoadObj("data/file.obj"); if (tcount == 0) { return; } // Convert file data to TriangleMesh var trimesh = new TriangleMesh(); trimeshes.Add(trimesh); Vector3 localScaling = new Vector3(6, 6, 6); List<int> indices = wo.Indices; List<Vector3> vertices = wo.Vertices; int i; for (i = 0; i < tcount; i++) { int index0 = indices[i * 3]; int index1 = indices[i * 3 + 1]; int index2 = indices[i * 3 + 2]; Vector3 vertex0 = vertices[index0] * localScaling; Vector3 vertex1 = vertices[index1] * localScaling; Vector3 vertex2 = vertices[index2] * localScaling; trimesh.AddTriangleRef(ref vertex0, ref vertex1, ref vertex2); } // Create a hull approximation ConvexHullShape convexShape; using (var tmpConvexShape = new ConvexTriangleMeshShape(trimesh)) { using (var hull = new ShapeHull(tmpConvexShape)) { hull.BuildHull(tmpConvexShape.Margin); convexShape = new ConvexHullShape(hull.Vertices); } } if (sEnableSAT) { convexShape.InitializePolyhedralFeatures(); } CollisionShapes.Add(convexShape); // Add non-moving body to world float mass = 1.0f; LocalCreateRigidBody(mass, Matrix.Translation(0, 2, 14), convexShape); const bool useQuantization = true; var concaveShape = new BvhTriangleMeshShape(trimesh, useQuantization); LocalCreateRigidBody(0, Matrix.Translation(convexDecompositionObjectOffset), concaveShape); CollisionShapes.Add(concaveShape); // HACD var hacd = new Hacd(); hacd.SetPoints(wo.Vertices); hacd.SetTriangles(wo.Indices); hacd.CompacityWeight = 0.1; hacd.VolumeWeight = 0.0; // Recommended HACD parameters: 2 100 false false false hacd.NClusters = 2; // minimum number of clusters hacd.Concavity = 100; // maximum concavity hacd.AddExtraDistPoints = false; hacd.AddNeighboursDistPoints = false; hacd.AddFacesPoints = false; hacd.NumVerticesPerConvexHull = 100; // max of 100 vertices per convex-hull hacd.Compute(); hacd.Save("output.wrl", false); // Generate convex result var outputFile = new FileStream("file_convex.obj", FileMode.Create, FileAccess.Write); var writer = new StreamWriter(outputFile); var convexDecomposition = new ConvexDecomposition(writer, this); convexDecomposition.LocalScaling = localScaling; for (int c = 0; c < hacd.NClusters; c++) { Vector3[] points; int[] triangles; hacd.GetCH(c, out points, out triangles); convexDecomposition.ConvexDecompResult(points, triangles); } // Combine convex shapes into a compound shape var compound = new CompoundShape(); for (i = 0; i < convexDecomposition.convexShapes.Count; i++) { Vector3 centroid = convexDecomposition.convexCentroids[i]; var convexShape2 = convexDecomposition.convexShapes[i]; Matrix trans = Matrix.Translation(centroid); if (sEnableSAT) { convexShape2.InitializePolyhedralFeatures(); } CollisionShapes.Add(convexShape2); compound.AddChildShape(trans, convexShape2); LocalCreateRigidBody(1.0f, trans, convexShape2); } CollisionShapes.Add(compound); writer.Dispose(); outputFile.Dispose(); #if true mass = 10.0f; var body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound); body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback; convexDecompositionObjectOffset.Z = 6; body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound); body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback; convexDecompositionObjectOffset.Z = -6; body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound); body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback; #endif }
protected override void OnInitializePhysics() { // collision configuration contains default setup for memory, collision setup DefaultCollisionConstructionInfo cci = new DefaultCollisionConstructionInfo(); cci.DefaultMaxPersistentManifoldPoolSize = 32768; CollisionConf = new DefaultCollisionConfiguration(cci); Dispatcher = new CollisionDispatcher(CollisionConf); Dispatcher.DispatcherFlags = DispatcherFlags.DisableContactPoolDynamicAllocation; // the maximum size of the collision world. Make sure objects stay within these boundaries // Don't make the world AABB size too large, it will harm simulation quality and performance Vector3 worldAabbMin = new Vector3(-1000, -1000, -1000); Vector3 worldAabbMax = new Vector3(1000, 1000, 1000); HashedOverlappingPairCache pairCache = new HashedOverlappingPairCache(); Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, 3500, pairCache); //Broadphase = new DbvtBroadphase(); Solver = new SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.Gravity = new Vector3(0, -10, 0); World.SolverInfo.SolverMode |= SolverModes.EnableFrictionDirectionCaching; World.SolverInfo.NumIterations = 5; if (benchmark < 5) { // create the ground CollisionShape groundShape = new BoxShape(250, 50, 250); CollisionShapes.Add(groundShape); CollisionObject ground = base.LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape); ground.UserObject = "Ground"; } float cubeSize = 1.0f; float spacing = cubeSize; float mass = 1.0f; int size = 8; Vector3 pos = new Vector3(0.0f, cubeSize * 2, 0.0f); float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f; switch (benchmark) { case 1: // 3000 BoxShape blockShape = new BoxShape(cubeSize - collisionRadius); mass = 2.0f; for (int k = 0; k < 47; k++) { for (int j = 0; j < size; j++) { pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing); for (int i = 0; i < size; i++) { pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing); RigidBody cmbody = LocalCreateRigidBody(mass, Matrix.Translation(pos), blockShape); } } offset -= 0.05f * spacing * (size - 1); // spacing *= 1.01f; pos[1] += (cubeSize * 2.0f + spacing); } break; case 2: CreatePyramid(new Vector3(-20, 0, 0), 12, new Vector3(cubeSize)); CreateWall(new Vector3(-2.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize)); CreateWall(new Vector3(4.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize)); CreateWall(new Vector3(10.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize)); CreateTowerCircle(new Vector3(25.0f, 0.0f, 0.0f), 8, 24, new Vector3(cubeSize)); break; case 3: // TODO: Ragdolls break; case 4: cubeSize = 1.5f; ConvexHullShape convexHullShape = new ConvexHullShape(); float scaling = 1; convexHullShape.LocalScaling = new Vector3(scaling); for (int i = 0; i < Taru.Vtx.Length / 3; i++) { Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]); convexHullShape.AddPoint(vtx * (1.0f / scaling)); } //this will enable polyhedral contact clipping, better quality, slightly slower convexHullShape.InitializePolyhedralFeatures(); for (int k = 0; k < 15; k++) { for (int j = 0; j < size; j++) { pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing); for (int i = 0; i < size; i++) { pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing); LocalCreateRigidBody(mass, Matrix.Translation(pos), convexHullShape); } } offset -= 0.05f * spacing * (size - 1); spacing *= 1.01f; pos[1] += (cubeSize * 2.0f + spacing); } break; case 5: Vector3 boxSize = new Vector3(1.5f); float boxMass = 1.0f; float sphereRadius = 1.5f; float sphereMass = 1.0f; float capsuleHalf = 2.0f; float capsuleRadius = 1.0f; float capsuleMass = 1.0f; size = 10; int height = 10; cubeSize = boxSize[0]; spacing = 2.0f; pos = new Vector3(0.0f, 20.0f, 0.0f); offset = -size * (cubeSize * 2.0f + spacing) * 0.5f; int numBodies = 0; Random random = new Random(); for (int k = 0; k < height; k++) { for (int j = 0; j < size; j++) { pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing); for (int i = 0; i < size; i++) { pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing); Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z); int idx = random.Next(10); Matrix trans = Matrix.Translation(bpos); switch (idx) { case 0: case 1: case 2: { float r = 0.5f * (idx + 1); BoxShape boxShape = new BoxShape(boxSize * r); LocalCreateRigidBody(boxMass * r, trans, boxShape); } break; case 3: case 4: case 5: { float r = 0.5f * (idx - 3 + 1); SphereShape sphereShape = new SphereShape(sphereRadius * r); LocalCreateRigidBody(sphereMass * r, trans, sphereShape); } break; case 6: case 7: case 8: { float r = 0.5f * (idx - 6 + 1); CapsuleShape capsuleShape = new CapsuleShape(capsuleRadius * r, capsuleHalf * r); LocalCreateRigidBody(capsuleMass * r, trans, capsuleShape); } break; } numBodies++; } } offset -= 0.05f * spacing * (size - 1); spacing *= 1.1f; pos[1] += (cubeSize * 2.0f + spacing); } //CreateLargeMeshBody(); break; case 6: boxSize = new Vector3(1.5f, 1.5f, 1.5f); convexHullShape = new ConvexHullShape(); for (int i = 0; i < Taru.Vtx.Length / 3; i++) { Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]); convexHullShape.AddPoint(vtx); } size = 10; height = 10; cubeSize = boxSize[0]; spacing = 2.0f; pos = new Vector3(0.0f, 20.0f, 0.0f); offset = -size * (cubeSize * 2.0f + spacing) * 0.5f; for (int k = 0; k < height; k++) { for (int j = 0; j < size; j++) { pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing); for (int i = 0; i < size; i++) { pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing); Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z); LocalCreateRigidBody(mass, Matrix.Translation(bpos), convexHullShape); } } offset -= 0.05f * spacing * (size - 1); spacing *= 1.1f; pos[1] += (cubeSize * 2.0f + spacing); } //CreateLargeMeshBody(); break; case 7: // TODO //CreateTest6(); //InitRays(); break; } }
protected override void OnInitializePhysics() { ManifoldPoint.ContactAdded += MyContactCallback; SetupEmptyDynamicsWorld(); //CompoundCollisionAlgorithm.CompoundChildShapePairCallback = MyCompoundChildShapeCallback; convexDecompositionObjectOffset = new Vector3(10, 0, 0); // Load wavefront file var wo = new WavefrontObj(); //string filename = UnityEngine.Application.dataPath + "/BulletUnity/Examples/Scripts/BulletSharpDemos/ConvexDecompositionDemo/data/file.obj"; UnityEngine.TextAsset bytes = (UnityEngine.TextAsset)UnityEngine.Resources.Load("file.obj"); System.IO.Stream byteStream = new System.IO.MemoryStream(bytes.bytes); int tcount = wo.LoadObj(byteStream); if (tcount == 0) { return; } // Convert file data to TriangleMesh var trimesh = new TriangleMesh(); trimeshes.Add(trimesh); Vector3 localScaling = new Vector3(6, 6, 6); List<int> indices = wo.Indices; List<Vector3> vertices = wo.Vertices; int i; for (i = 0; i < tcount; i++) { int index0 = indices[i * 3]; int index1 = indices[i * 3 + 1]; int index2 = indices[i * 3 + 2]; Vector3 vertex0 = vertices[index0] * localScaling; Vector3 vertex1 = vertices[index1] * localScaling; Vector3 vertex2 = vertices[index2] * localScaling; trimesh.AddTriangleRef(ref vertex0, ref vertex1, ref vertex2); } // Create a hull approximation ConvexHullShape convexShape; using (var tmpConvexShape = new ConvexTriangleMeshShape(trimesh)) { using (var hull = new ShapeHull(tmpConvexShape)) { hull.BuildHull(tmpConvexShape.Margin); convexShape = new ConvexHullShape(hull.Vertices); } } if (sEnableSAT) { convexShape.InitializePolyhedralFeatures(); } CollisionShapes.Add(convexShape); // Add non-moving body to world float mass = 1.0f; LocalCreateRigidBody(mass, Matrix.Translation(0, 2, 14), convexShape); const bool useQuantization = true; var concaveShape = new BvhTriangleMeshShape(trimesh, useQuantization); LocalCreateRigidBody(0, Matrix.Translation(convexDecompositionObjectOffset), concaveShape); CollisionShapes.Add(concaveShape); // HACD var hacd = new Hacd(); hacd.SetPoints(wo.Vertices); hacd.SetTriangles(wo.Indices); hacd.CompacityWeight = 0.1; hacd.VolumeWeight = 0.0; // Recommended HACD parameters: 2 100 false false false hacd.NClusters = 2; // minimum number of clusters hacd.Concavity = 100; // maximum concavity hacd.AddExtraDistPoints = false; hacd.AddNeighboursDistPoints = false; hacd.AddFacesPoints = false; hacd.NVerticesPerCH = 100; // max of 100 vertices per convex-hull hacd.Compute(); hacd.Save("output.wrl", false); // Generate convex result var outputFile = new FileStream("file_convex.obj", FileMode.Create, FileAccess.Write); var writer = new StreamWriter(outputFile); var convexDecomposition = new ConvexDecomposition(writer, this); convexDecomposition.LocalScaling = localScaling; for (int c = 0; c < hacd.NClusters; c++) { int nVertices = hacd.GetNPointsCH(c); int trianglesLen = hacd.GetNTrianglesCH(c) * 3; double[] points = new double[nVertices * 3]; long[] triangles = new long[trianglesLen]; hacd.GetCH(c, points, triangles); if (trianglesLen == 0) { continue; } Vector3[] verticesArray = new Vector3[nVertices]; int vi3 = 0; for (int vi = 0; vi < nVertices; vi++) { verticesArray[vi] = new Vector3( (float)points[vi3], (float)points[vi3 + 1], (float)points[vi3 + 2]); vi3 += 3; } int[] trianglesInt = new int[trianglesLen]; for (int ti = 0; ti < trianglesLen; ti++) { trianglesInt[ti] = (int)triangles[ti]; } convexDecomposition.ConvexDecompResult(verticesArray, trianglesInt); } // Combine convex shapes into a compound shape var compound = new CompoundShape(); for (i = 0; i < convexDecomposition.convexShapes.Count; i++) { Vector3 centroid = convexDecomposition.convexCentroids[i]; var convexShape2 = convexDecomposition.convexShapes[i]; Matrix trans = Matrix.Translation(centroid); if (sEnableSAT) { convexShape2.InitializePolyhedralFeatures(); } CollisionShapes.Add(convexShape2); compound.AddChildShape(trans, convexShape2); LocalCreateRigidBody(1.0f, trans, convexShape2); } CollisionShapes.Add(compound); writer.Dispose(); outputFile.Dispose(); #if true mass = 10.0f; var body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound); body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback; convexDecompositionObjectOffset.Z = 6; body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound); body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback; convexDecompositionObjectOffset.Z = -6; body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound); body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback; #endif }