public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
// Initialize TriangleIndexVertexArray with float array
indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
gImpactMeshShape = new GImpactMeshShape(indexVertexArray);
gImpactMeshShape.CalculateLocalInertia(1.0f);
gImpactMesh = CreateBody(1.0f, gImpactMeshShape, Vector3.Zero);
// Initialize TriangleIndexVertexArray with Vector3 array
Vector3[] torusVertices = new Vector3[TorusMesh.Vertices.Length / 3];
for (int i = 0; i < torusVertices.Length; i++)
{
torusVertices[i] = new Vector3(
TorusMesh.Vertices[i * 3],
TorusMesh.Vertices[i * 3 + 1],
TorusMesh.Vertices[i * 3 + 2]);
}
indexVertexArray2 = new TriangleIndexVertexArray(TorusMesh.Indices, torusVertices);
triangleMeshShape = new BvhTriangleMeshShape(indexVertexArray2, true);
// CalculateLocalInertia must fail for static shapes (shapes based on TriangleMeshShape)
//triangleMeshShape.CalculateLocalInertia(1.0f);
triangleMesh = CreateBody(0.0f, triangleMeshShape, Vector3.Zero);
}
public static CompoundShape Create(GImpactMeshShape gImpactMesh, float depth)
{
CompoundShape colShape = new CompoundShape();
using (var cb = new MyInternalTriangleIndexCallback(colShape, gImpactMesh, depth))
{
Vector3 aabbMin, aabbMax;
gImpactMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
gImpactMesh.MeshInterface.InternalProcessAllTriangles(cb, aabbMin, aabbMax);
}
return colShape;
}
public override void Run()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
var indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
foreach (var indexedMesh in indexVertexArray.IndexedMeshArray)
{
indexedMesh.ToString();
}
AddToDisposeQueue(indexVertexArray);
var gImpactMesh = new GImpactMeshShape(indexVertexArray);
Vector3 aabbMin, aabbMax;
gImpactMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, gImpactMesh, Vector3.Zero);
AddToDisposeQueue(gImpactMesh);
gImpactMesh = null;
var triangleMesh = new BvhTriangleMeshShape(indexVertexArray, true);
triangleMesh.CalculateLocalInertia(1.0f);
triangleMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, triangleMesh, Vector3.Zero);
AddToDisposeQueue(triangleMesh);
triangleMesh = null;
indexVertexArray = null;
AddToDisposeQueue(conf);
AddToDisposeQueue(dispatcher);
AddToDisposeQueue(broadphase);
AddToDisposeQueue(world);
//conf.Dispose();
conf = null;
//dispatcher.Dispose();
dispatcher = null;
//broadphase.Dispose();
broadphase = null;
for (int i = 0; i < 600; i++)
{
world.StepSimulation(1.0f / 60.0f);
}
world.Dispose();
world = null;
ForceGC();
TestWeakRefs();
ClearRefs();
}
override protected BulletSharp.CollisionShape createShape ()
{
if (mesh == null)
mesh = GetComponent<MeshFilter> ().mesh;
// TODO: share data using an own interface
float[] vertices = new float[mesh.vertices.Length * 3];
for (int i = 0; i < mesh.vertices.Length; i++) {
vertices [i * 3] = mesh.vertices [i].x;
vertices [i * 3 + 1] = mesh.vertices [i].y;
vertices [i * 3 + 2] = mesh.vertices [i].z;
}
BulletSharp.TriangleIndexVertexArray bulletMesh = new BulletSharp.TriangleIndexVertexArray (mesh.triangles, vertices);
BulletSharp.GImpactMeshShape impactShape = new BulletSharp.GImpactMeshShape (bulletMesh);
impactShape.UpdateBound ();
return impactShape;
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
gImpactMeshShape = new GImpactMeshShape(indexVertexArray);
triangleMeshShape = new BvhTriangleMeshShape(indexVertexArray, true);
triangleMeshShape.CalculateLocalInertia(1.0f);
gImpactMesh = CreateBody(1.0f, gImpactMeshShape, Vector3.Zero);
triangleMesh = CreateBody(1.0f, triangleMeshShape, Vector3.Zero);
}
void InitGImpactCollision()
{
// Create Torus Shape
indexVertexArrays = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
#if BULLET_GIMPACT
#if BULLET_GIMPACT_CONVEX_DECOMPOSITION
//GImpactConvexDecompositionShape trimesh =
// new GImpactConvexDecompositionShape(indexVertexArrays, new Vector3(1), 0.01f);
//trimesh.Margin = 0.07f;
//trimesh.UpdateBound();
#else
GImpactMeshShape trimesh = new GImpactMeshShape(indexVertexArrays);
trimesh.LocalScaling = new Vector3(1);
#if BULLET_TRIANGLE_COLLISION
trimesh.Margin = 0.07f; //?????
#else
trimesh.Margin = 0;
#endif
trimesh.UpdateBound();
#endif
trimeshShape = trimesh;
#else
//trimeshShape = new GImpactMeshData(indexVertexArrays);
#endif
CollisionShapes.Add(trimeshShape);
// Create Bunny Shape
indexVertexArrays2 = new TriangleIndexVertexArray(BunnyMesh.Indices, BunnyMesh.Vertices);
#if BULLET_GIMPACT
#if BULLET_GIMPACT_CONVEX_DECOMPOSITION
//GImpactConvexDecompositionShape trimesh2 =
// new GImpactConvexDecompositionShape(indexVertexArrays, new Vector3(1), 0.01f);
//trimesh.Margin = 0.07f;
//trimesh.UpdateBound();
//trimeshShape = trimesh2;
#else
GImpactMeshShape trimesh2 = new GImpactMeshShape(indexVertexArrays2);
trimesh2.LocalScaling = new Vector3(1);
#if BULLET_TRIANGLE_COLLISION
trimesh2.Margin = 0.07f; //?????
#else
trimesh2.Margin = 0;
#endif
trimesh2.UpdateBound();
trimeshShape2 = trimesh2;
#endif
#else
//trimeshShape2 = new GImpactMeshData(indexVertexArrays2);
#endif
CollisionShapes.Add(trimeshShape2);
//register GIMPACT algorithm
#if BULLET_GIMPACT
GImpactCollisionAlgorithm.RegisterAlgorithm(Dispatcher);
#else
//ConcaveConcaveCollisionAlgorithm.RegisterAlgorithm(Dispatcher);
#endif
}
public GImpactMeshShape CreateGimpactShape(StridingMeshInterface trimesh)
{
GImpactMeshShape shape = new GImpactMeshShape(trimesh._native);
_allocatedCollisionShapes.Add(shape);
return shape;
}
public static Vector3[] CreateGImpactMesh(GImpactMeshShape shape)
{
DataStream vertexBuffer, indexBuffer;
int numVerts, numFaces;
PhyScalarType vertsType, indicesType;
int vertexStride, indexStride;
shape.MeshInterface.GetLockedReadOnlyVertexIndexData(out vertexBuffer, out numVerts, out vertsType, out vertexStride,
out indexBuffer, out indexStride, out numFaces, out indicesType);
Vector3[] vertices = new Vector3[numFaces * 3 * 2];
// Need to un-index the vertex buffer to make the normals right.
int v = 0;
while (indexBuffer.Position < indexBuffer.Length)
{
uint i = indexBuffer.Read<uint>();
vertexBuffer.Position = vertexStride * i;
Vector3 v0 = vertexBuffer.Read<Vector3>();
i = indexBuffer.Read<uint>();
vertexBuffer.Position = vertexStride * i;
Vector3 v1 = vertexBuffer.Read<Vector3>();
i = indexBuffer.Read<uint>();
vertexBuffer.Position = vertexStride * i;
Vector3 v2 = vertexBuffer.Read<Vector3>();
Vector3 v01 = v0 - v1;
Vector3 v02 = v0 - v2;
Vector3 normal = Vector3.Cross(v01, v02);
normal.Normalize();
vertices[v++] = v0;
vertices[v++] = normal;
vertices[v++] = v1;
vertices[v++] = normal;
vertices[v++] = v2;
vertices[v++] = normal;
}
return vertices;
}
public MyInternalTriangleIndexCallback(CompoundShape colShape, GImpactMeshShape meshShape, float depth)
{
_colShape = colShape;
_depth = depth;
_meshShape = meshShape;
}
Mesh CreateGImpactMeshShape(GImpactMeshShape shape)
{
BulletSharp.DataStream verts, indices;
int numVerts, numFaces;
PhyScalarType vertsType, indicesType;
int vertexStride, indexStride;
shape.MeshInterface.GetLockedReadOnlyVertexIndexData(out verts, out numVerts, out vertsType, out vertexStride,
out indices, out indexStride, out numFaces, out indicesType);
bool index32 = numVerts > 65536;
Mesh mesh = new Mesh(device, numFaces, numVerts,
MeshFlags.SystemMemory | (index32 ? MeshFlags.Use32Bit : 0), VertexFormat.Position | VertexFormat.Normal);
SlimDX.DataStream vertexBuffer = mesh.LockVertexBuffer(LockFlags.Discard);
while (vertexBuffer.Position < vertexBuffer.Length)
{
vertexBuffer.Write(verts.Read<Vector3>());
vertexBuffer.Position += 12;
}
mesh.UnlockVertexBuffer();
SlimDX.DataStream indexBuffer = mesh.LockIndexBuffer(LockFlags.Discard);
if (index32)
{
while (indexBuffer.Position < indexBuffer.Length)
indexBuffer.Write(indices.Read<int>());
}
else
{
while (indexBuffer.Position < indexBuffer.Length)
indexBuffer.Write((short)indices.Read<int>());
}
mesh.UnlockIndexBuffer();
mesh.ComputeNormals();
shapes.Add(shape, mesh);
return mesh;
}
