public override void AddConvexVerticesCollider(AlignedVector3Array vertices, bool isEntity, Vector3 entityTargetLocation)
{
// perhaps we can do something special with entities (isEntity)
// like adding a collision Triggering (as example)
if (vertices.Count == 0)
{
return;
}
const float mass = 0.0f;
//can use a shift
Matrix startTransform = Matrix.Translation(0, -10.0f, 0);
//this create an internal copy of the vertices
for (int i = 0; i < vertices.Count; i++)
{
Vector3 v = vertices[i] * 0.5f;
vertices[i] = new Vector3(v.X, v.Z * 0.75f, -v.Y);
}
CollisionShape shape = new ConvexHullShape(vertices);
demo.CollisionShapes.Add(shape);
demo.LocalCreateRigidBody(mass, startTransform, shape);
}
public void ConvertBsp(BspLoader bspLoader, float scaling)
{
Vector3 playerStart = new Vector3(0, 0, 100);
if (bspLoader.FindVectorByName("info_player_start", ref playerStart) == false)
{
bspLoader.FindVectorByName("info_player_deathmatch", ref playerStart);
}
playerStart[2] += 20.0f * scaling; //start a bit higher
foreach (BspLeaf leaf in bspLoader.Leaves)
{
bool isValidBrush = false;
for (int b = 0; b < leaf.NumLeafBrushes; b++)
{
AlignedVector3Array planeEquations = new AlignedVector3Array();
int brushID = bspLoader.LeafBrushes[leaf.FirstLeafBrush + b];
BspBrush brush = bspLoader.Brushes[brushID];
if (brush.ShaderNum != -1)
{
if ((bspLoader.Shaders[brush.ShaderNum].ContentFlags & ContentFlags.Solid) == ContentFlags.Solid)
{
brush.ShaderNum = -1;
for (int p = 0; p < brush.NumSides; p++)
{
int sideid = brush.FirstSide + p;
BspBrushSide brushside = bspLoader.BrushSides[sideid];
int planeid = brushside.PlaneNum;
BspPlane plane = bspLoader.Planes[planeid];
Vector4 planeEq = new Vector4(plane.Normal, scaling * -plane.Distance);
planeEquations.Add(planeEq);
isValidBrush = true;
}
if (isValidBrush)
{
AlignedVector3Array vertices;
GeometryUtil.GetVerticesFromPlaneEquations(planeEquations, out vertices);
bool isEntity = false;
Vector3 entityTarget = Vector3.Zero;
AddConvexVerticesCollider(vertices, isEntity, entityTarget);
}
}
}
}
}
foreach (BspEntity entity in bspLoader.Entities)
{
if (entity.ClassName == "trigger_push")
{
}
}
}
public void ConvertBsp(BspLoader bspLoader, float scaling)
{
Vector3 playerStart = new Vector3(0, 0, 100);
if (bspLoader.FindVectorByName("info_player_start", ref playerStart) == false)
{
bspLoader.FindVectorByName("info_player_deathmatch", ref playerStart);
}
playerStart[2] += 20.0f * scaling; //start a bit higher
foreach (BspLeaf leaf in bspLoader.Leaves)
{
bool isValidBrush = false;
for (int b = 0; b < leaf.NumLeafBrushes; b++)
{
AlignedVector3Array planeEquations = new AlignedVector3Array();
int brushID = bspLoader.LeafBrushes[leaf.FirstLeafBrush + b];
BspBrush brush = bspLoader.Brushes[brushID];
if (brush.ShaderNum != -1)
{
if ((bspLoader.Shaders[brush.ShaderNum].ContentFlags & ContentFlags.Solid) == ContentFlags.Solid)
{
brush.ShaderNum = -1;
for (int p = 0; p < brush.NumSides; p++)
{
int sideid = brush.FirstSide + p;
BspBrushSide brushside = bspLoader.BrushSides[sideid];
int planeid = brushside.PlaneNum;
BspPlane plane = bspLoader.Planes[planeid];
Vector4 planeEq = new Vector4(plane.Normal, scaling*-plane.Distance);
planeEquations.Add(planeEq);
isValidBrush = true;
}
if (isValidBrush)
{
AlignedVector3Array vertices = new AlignedVector3Array();
GeometryUtil.GetVerticesFromPlaneEquations(planeEquations, vertices);
bool isEntity = false;
Vector3 entityTarget = Vector3.Zero;
AddConvexVerticesCollider(vertices, isEntity, entityTarget);
}
}
}
}
}
foreach (BspEntity entity in bspLoader.Entities)
{
if (entity.ClassName == "trigger_push")
{
}
}
}
private List <Vector3> ShrinkObjectInwards(AlignedVector3Array vertices)
{
const float collisionMargin = 0.01f;
AlignedVector3Array planeEquations = new AlignedVector3Array();
GeometryUtil.GetPlaneEquationsFromVertices(vertices, planeEquations);
List <Vector4> shiftedPlaneEquations =
planeEquations.Select(p => new Vector4(p.X, p.Y, p.Z, p.W + collisionMargin)).ToList();
planeEquations.Dispose();
return(GeometryUtil.GetVerticesFromPlaneEquations(shiftedPlaneEquations));
}
public override void AddConvexVerticesCollider(AlignedVector3Array vertices, bool isEntity, Vector3 entityTargetLocation)
{
// perhaps we can do something special with entities (isEntity)
// like adding a collision Triggering (as example)
if (vertices.Count == 0)
return;
float mass = 0.0f;
//can use a shift
Matrix startTransform = Matrix.Translation(0, 0, -10.0f);
CollisionShape shape = new ConvexHullShape(vertices);
demo.CollisionShapes.Add(shape);
demo.LocalCreateRigidBody(mass, startTransform, shape);
}
public override void AddConvexVerticesCollider(AlignedVector3Array vertices, bool isEntity, Vector3 entityTargetLocation)
{
// perhaps we can do something special with entities (isEntity)
// like adding a collision Triggering (as example)
if (vertices.Count == 0)
{
return;
}
float mass = 0.0f;
//can use a shift
Matrix startTransform = Matrix.Translation(0, 0, -10.0f);
CollisionShape shape = new ConvexHullShape(vertices);
demo.CollisionShapes.Add(shape);
demo.LocalCreateRigidBody(mass, startTransform, shape);
}
public override void AddConvexVerticesCollider(AlignedVector3Array vertices, bool isEntity, Vector3 entityTargetLocation)
{
// perhaps we can do something special with entities (isEntity)
// like adding a collision Triggering (as example)
if (vertices.Count == 0)
return;
const float mass = 0.0f;
//can use a shift
Matrix startTransform = Matrix.Translation(0, -10.0f, 0);
//this create an internal copy of the vertices
for (int i = 0; i < vertices.Count; i++)
{
Vector3 v = vertices[i] * 0.5f;
vertices[i] = new Vector3(v.X, v.Z * 0.75f, -v.Y);
}
CollisionShape shape = new ConvexHullShape(vertices);
demo.CollisionShapes.Add(shape);
demo.LocalCreateRigidBody(mass, startTransform, shape);
}
public abstract void AddConvexVerticesCollider(AlignedVector3Array vertices, bool isEntity, Vector3 entityTargetLocation);
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.
}
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.
}
/// <summary>
/// Generates a convex hull collision mesh from the given original mesh.
/// </summary>
/// <param name="original"></param>
/// <returns></returns>
public static Mesh GenerateCollisionMesh(Mesh original, Vector3 offset = default(Vector3), float margin = 0f)
{
if (margin > 0f)
{
ConvexHullShape tempShape = new ConvexHullShape(Array.ConvertAll(original.vertices, x => x.ToBullet()), original.vertices.Length);
tempShape.Margin = 0f;
ShapeHull shapeHull = new ShapeHull(tempShape);
bool b = shapeHull.BuildHull(0f);
AlignedVector3Array initialVertices = new AlignedVector3Array();
for (int i = 0; i < shapeHull.NumVertices; i++)
{
initialVertices.Add(shapeHull.Vertices[i]);
}
List <BulletSharp.Math.Vector4> planeEquations = GeometryUtilEx.GetPlaneEquationsFromVertices(initialVertices);
List <BulletSharp.Math.Vector4> shiftedPlaneEquations = new List <BulletSharp.Math.Vector4>();
for (int i = 0; i < planeEquations.Count; i++)
{
BulletSharp.Math.Vector4 plane = planeEquations[i];
plane.W += margin;
shiftedPlaneEquations.Add(plane);
}
List <BulletSharp.Math.Vector3> shiftedVertices = GeometryUtilEx.GetVerticesFromPlaneEquations(shiftedPlaneEquations);
Vector3[] finalVertices = new Vector3[shiftedVertices.Count];
Mesh collisionMesh = new Mesh();
for (int i = 0; i < finalVertices.Length; i++)
{
finalVertices[i] = shiftedVertices[i].ToUnity() - offset;
}
collisionMesh.vertices = finalVertices;
collisionMesh.RecalculateBounds();
return(collisionMesh);
}
else
{
ConvexHullShape tempShape = new ConvexHullShape(Array.ConvertAll(original.vertices, x => x.ToBullet()), original.vertices.Length);
tempShape.Margin = 0f;
ShapeHull shapeHull = new ShapeHull(tempShape);
bool b = shapeHull.BuildHull(0f);
Mesh collisionMesh = new Mesh();
Vector3[] vertices = new Vector3[shapeHull.NumVertices];
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = shapeHull.Vertices[i].ToUnity() - offset;
}
int[] triangles = new int[shapeHull.NumIndices];
for (int i = 0; i < triangles.Length; i++)
{
triangles[i] = (int)shapeHull.Indices[i];
}
collisionMesh.vertices = vertices;
collisionMesh.triangles = triangles;
collisionMesh.RecalculateNormals();
collisionMesh.RecalculateBounds();
return(collisionMesh);
}
}
public abstract void AddConvexVerticesCollider(AlignedVector3Array vertices, bool isEntity, Vector3 entityTargetLocation);
/*
public static bool IsInside(AlignedVector3Array vertices, Vector3 planeNormal, float margin)
{
return btGeometryUtil_isInside(vertices._native, ref planeNormal, margin);
}
*/
public static bool IsPointInsidePlanes(AlignedVector3Array planeEquations, Vector3 point, float margin)
{
return btGeometryUtil_isPointInsidePlanes(planeEquations._native, ref point, margin);
}
public static void GetVerticesFromPlaneEquations(AlignedVector3Array planeEquations, AlignedVector3Array verticesOut)
{
btGeometryUtil_getVerticesFromPlaneEquations(planeEquations._native, verticesOut._native);
}
public static void GetPlaneEquationsFromVertices(AlignedVector3Array vertices, AlignedVector3Array planeEquationsOut)
{
btGeometryUtil_getPlaneEquationsFromVertices(vertices._native, planeEquationsOut._native);
}
public static bool AreVerticesBehindPlane(Vector3 planeNormal, AlignedVector3Array vertices, float margin)
{
return btGeometryUtil_areVerticesBehindPlane(ref planeNormal, vertices._native, margin);
}