protected override void OnAttach()
{
if (NativeCollisionObject == null)
{
MotionState = new XenkoMotionState(this);
SetupBoneLink();
var rbci = new BulletSharp.RigidBodyConstructionInfo(0.0f, MotionState, ColliderShape.InternalShape, Vector3.Zero);
InternalRigidBody = new BulletSharp.RigidBody(rbci)
{
UserObject = this,
};
NativeCollisionObject = InternalRigidBody;
NativeCollisionObject.ContactProcessingThreshold = !Simulation.CanCcd ? 1e18f : 1e30f;
}
if (ColliderShape.NeedsCustomCollisionCallback)
{
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
if (ColliderShape.Is2D) //set different defaults for 2D shapes
{
InternalRigidBody.LinearFactor = new Vector3(1.0f, 1.0f, 0.0f);
InternalRigidBody.AngularFactor = new Vector3(0.0f, 0.0f, 1.0f);
}
var inertia = ColliderShape.InternalShape.CalculateLocalInertia(mass);
InternalRigidBody.SetMassProps(mass, inertia);
InternalRigidBody.UpdateInertiaTensor(); //this was the major headache when I had to debug Slider and Hinge constraint
base.OnAttach();
Mass = mass;
LinearDamping = linearDamping;
AngularDamping = angularDamping;
OverrideGravity = overrideGravity;
Gravity = gravity;
RigidBodyType = type;
Simulation.AddRigidBody(this, (CollisionFilterGroupFlags)CollisionGroup, CanCollideWith);
}
public void CreatePhysicsObjectBulletSharp()
{
BulletSharp.TriangleIndexVertexArray vertexArray = new BulletSharp.TriangleIndexVertexArray();
BulletSharp.IndexedMesh mesh = new BulletSharp.IndexedMesh();
mesh.Allocate(verts.Length, System.Runtime.InteropServices.Marshal.SizeOf(Vector3.Zero), (width - 1) * (height - 1) * 2, 3 * sizeof(int));
BulletSharp.DataStream vData = mesh.LockVerts();
Color[] md = new Color[verts.Length];
heightMap.GetData <Color>(md);
Vector3[] realVerts = new Vector3[verts.Length];
for (int x = 0; x < width; x++)
{
for (int y = 0; y < height; y++)
{
int idx = x + y * width;
realVerts[idx] = new Vector3(x, (md[idx].R / 256f) * 30f, y);
}
}
for (int v = 0; v < realVerts.Length; v++)
{
vData.Write(realVerts[v].X);
vData.Write(realVerts[v].Y);
vData.Write(realVerts[v].Z);
}
indices = new int[(width - 1) * (height - 1) * 6];
for (int x = 0; x < width - 1; x++)
{
for (int y = 0; y < height - 1; y++)
{
indices[(x + y * (width - 1)) * 6] = ((x + 1) + (y + 1) * width);
indices[(x + y * (width - 1)) * 6 + 1] = ((x + 1) + y * width);
indices[(x + y * (width - 1)) * 6 + 2] = (x + y * width);
indices[(x + y * (width - 1)) * 6 + 3] = ((x + 1) + (y + 1) * width);
indices[(x + y * (width - 1)) * 6 + 4] = (x + y * width);
indices[(x + y * (width - 1)) * 6 + 5] = (x + (y + 1) * width);
}
}
BulletSharp.IntArray iData = mesh.TriangleIndices;
for (int idx = 0; idx < indices.Length; idx++)
{
iData[idx] = indices[idx];
}
vertexArray.AddIndexedMesh(mesh);
BulletSharp.CollisionShape btTerrain = new BulletSharp.BvhTriangleMeshShape(vertexArray, true);
BulletSharp.RigidBodyConstructionInfo rbInfo =
new BulletSharp.RigidBodyConstructionInfo(0, new BulletSharp.DefaultMotionState(Matrix.Identity), btTerrain, Vector3.Zero);
BulletSharp.RigidBody bulletSharpRigidBody = new BulletSharp.RigidBody(rbInfo);
bulletSharpRigidBody.Translate(Position);
RigidBody = bulletSharpRigidBody;
}
public void CreatePhysicsObjectBulletSharp()
{
BulletSharp.TriangleIndexVertexArray vertexArray = new BulletSharp.TriangleIndexVertexArray();
BulletSharp.IndexedMesh mesh = new BulletSharp.IndexedMesh();
mesh.Allocate(verts.Length, System.Runtime.InteropServices.Marshal.SizeOf(Vector3.Zero), (width - 1) * (height - 1) * 2, 3 * sizeof(int));
BulletSharp.DataStream vData = mesh.LockVerts();
Color[] md = new Color[verts.Length];
heightMap.GetData<Color>(md);
Vector3[] realVerts = new Vector3[verts.Length];
for (int x = 0; x < width; x++)
{
for (int y = 0; y < height; y++)
{
int idx = x + y * width;
realVerts[idx] = new Vector3(x, (md[idx].R / 256f) * 30f, y);
}
}
for (int v = 0; v < realVerts.Length; v++)
{
vData.Write(realVerts[v].X);
vData.Write(realVerts[v].Y);
vData.Write(realVerts[v].Z);
}
indices = new int[(width - 1) * (height - 1) * 6];
for (int x = 0; x < width - 1; x++)
{
for (int y = 0; y < height - 1; y++)
{
indices[(x + y * (width - 1)) * 6] = ((x + 1) + (y + 1) * width);
indices[(x + y * (width - 1)) * 6 + 1] = ((x + 1) + y * width);
indices[(x + y * (width - 1)) * 6 + 2] = (x + y * width);
indices[(x + y * (width - 1)) * 6 + 3] = ((x + 1) + (y + 1) * width);
indices[(x + y * (width - 1)) * 6 + 4] = (x + y * width);
indices[(x + y * (width - 1)) * 6 + 5] = (x + (y + 1) * width);
}
}
BulletSharp.IntArray iData = mesh.TriangleIndices;
for (int idx = 0; idx < indices.Length; idx++)
{
iData[idx] = indices[idx];
}
vertexArray.AddIndexedMesh(mesh);
BulletSharp.CollisionShape btTerrain = new BulletSharp.BvhTriangleMeshShape(vertexArray, true);
BulletSharp.RigidBodyConstructionInfo rbInfo =
new BulletSharp.RigidBodyConstructionInfo(0, new BulletSharp.DefaultMotionState(Matrix.Identity), btTerrain, Vector3.Zero);
BulletSharp.RigidBody bulletSharpRigidBody = new BulletSharp.RigidBody(rbInfo);
bulletSharpRigidBody.Translate(Position);
RigidBody = bulletSharpRigidBody;
}
