internal static BepuColliderShape Compose(IReadOnlyList <IBepuAssetColliderShapeDesc> descs, BepuUtilities.Memory.BufferPool bufferPool)
{
if (descs == null)
{
return(null);
}
BepuColliderShape res = null;
if (descs.Count == 1) // Single shape case
{
res = CreateShape(descs[0], bufferPool);
if (res == null)
{
return(null);
}
res.IsPartOfAsset = true;
}
else if (descs.Count > 1) // Need a compound shape in this case
{
var compound = new BepuCompoundColliderShape();
foreach (var desc in descs)
{
var subShape = CreateShape(desc, bufferPool);
if (subShape == null)
{
continue;
}
compound.AddChildShape(subShape);
}
res = compound;
res.IsPartOfAsset = true;
}
return(res);
}
public BepuColliderShape CreateShape(BepuUtilities.Memory.BufferPool bufferPool)
{
if (ConvexHulls == null)
{
return(null);
}
BepuColliderShape shape;
// Optimize performance and focus on less shapes creation since this shape could be nested
if (ConvexHulls.Count == 1)
{
var curMeshConvexHulls = ConvexHulls[0];
var curMeshConvexHullsIndices = ConvexHullsIndices[0];
if (curMeshConvexHulls.Count == 1 && curMeshConvexHullsIndices[0].Count > 0)
{
shape = new BepuConvexHullColliderShape(curMeshConvexHulls[0], curMeshConvexHullsIndices[0], Scaling, bufferPool)
{
NeedsCustomCollisionCallback = true,
};
//shape.UpdateLocalTransformations();
shape.Description = this;
return(shape);
}
if (curMeshConvexHulls.Count <= 1)
{
return(null);
}
var subCompound = new BepuCompoundColliderShape
{
NeedsCustomCollisionCallback = true,
};
for (int i = 0; i < curMeshConvexHulls.Count; i++)
{
var verts = curMeshConvexHulls[i];
var indices = curMeshConvexHullsIndices[i];
if (indices.Count == 0)
{
continue;
}
var subHull = new BepuConvexHullColliderShape(verts, indices, Scaling, bufferPool);
//subHull.UpdateLocalTransformations();
subCompound.AddChildShape(subHull);
}
//subCompound.UpdateLocalTransformations();
subCompound.Description = this;
return(subCompound);
}
if (ConvexHulls.Count <= 1)
{
return(null);
}
var compound = new BepuCompoundColliderShape
{
NeedsCustomCollisionCallback = true,
};
for (int i = 0; i < ConvexHulls.Count; i++)
{
var curMeshConvexHulls = ConvexHulls[i];
var curMeshConvexHullsIndices = ConvexHullsIndices[i];
if (curMeshConvexHulls.Count == 1)
{
if (curMeshConvexHullsIndices[0].Count == 0)
{
continue;
}
var subHull = new BepuConvexHullColliderShape(curMeshConvexHulls[0], curMeshConvexHullsIndices[0], Scaling, bufferPool);
//subHull.UpdateLocalTransformations();
compound.AddChildShape(subHull);
}
else if (curMeshConvexHulls.Count > 1)
{
var subCompound = new BepuCompoundColliderShape();
// Loop through each hulls
for (int b = 0; b < curMeshConvexHulls.Count; b++)
{
var verts = curMeshConvexHulls[b];
var indices = curMeshConvexHullsIndices[b];
if (indices.Count == 0)
{
continue;
}
var subHull = new BepuConvexHullColliderShape(verts, indices, Scaling, bufferPool);
//subHull.UpdateLocalTransformations();
subCompound.AddChildShape(subHull);
}
//subCompound.UpdateLocalTransformations();
compound.AddChildShape(subCompound);
}
}
//compound.UpdateLocalTransformations();
compound.Description = this;
return(compound);
}
