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 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 static CompoundShape Create(GImpactMeshShape impactMesh, Scalar depth)
{
var shape = new CompoundShape();
using (var callback = new MyInternalTriangleIndexCallback(shape, impactMesh, depth))
{
Vector3 aabbMin, aabbMax;
impactMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
impactMesh.MeshInterface.InternalProcessAllTriangles(callback, aabbMin, aabbMax);
}
return(shape);
}
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();
}
