public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls) { DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; CompoundShape compoundshape = new CompoundShape(false); compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); int ii = 1; for (int i = 0; i < pHullCount; i++) { int vertexCount = (int) pConvHulls[ii]; IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]); IndexedMatrix childTrans = IndexedMatrix.Identity; childTrans._origin = centroid; List<IndexedVector3> virts = new List<IndexedVector3>(); int ender = ((ii + 4) + (vertexCount*3)); for (int iii = ii + 4; iii < ender; iii+=3) { virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); } ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); convexShape.SetMargin(world.WorldSettings.Params.collisionMargin); compoundshape.AddChildShape(ref childTrans, convexShape); ii += (vertexCount*3 + 4); } return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); }
internal static object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls) { CompoundShape compoundshape = new CompoundShape(false); var world = pWorld as DiscreteDynamicsWorld; compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); int ii = 1; for (int i = 0; i < pHullCount; i++) { int vertexCount = (int) pConvHulls[ii]; IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]); IndexedMatrix childTrans = IndexedMatrix.Identity; childTrans._origin = centroid; List<IndexedVector3> virts = new List<IndexedVector3>(); int ender = ((ii + 4) + (vertexCount*3)); for (int iii = ii + 4; iii < ender; iii+=3) { virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); } ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); convexShape.SetMargin(world.WorldSettings.Params.collisionMargin); compoundshape.AddChildShape(ref childTrans, convexShape); ii += (vertexCount*3 + 4); } return compoundshape; }