public override CollisionShape GetCollisionShape()
{
if (collisionShapePtr == null) {
Vector3[] verts = hullMesh.vertices;
int[] tris = hullMesh.triangles;
//todo test for convex. Make convex if not.
TriangleMesh tm = new TriangleMesh();
for (int i = 0; i < tris.Length; i += 3) {
tm.AddTriangle(verts[tris[i]].ToBullet(),
verts[tris[i + 1]].ToBullet(),
verts[tris[i + 2]].ToBullet(),
true);
}
collisionShapePtr = new ConvexTriangleMeshShape(tm);
((ConvexTriangleMeshShape)collisionShapePtr).LocalScaling = m_localScaling.ToBullet();
}
return collisionShapePtr;
}
public BulletTriangleMesh(IModelo model, Vector3 pos, Matrix rotation, Vector3 scale)
{
TriangleMesh TriangleMesh = new BulletSharp.TriangleMesh(true, false);
Vector3[] vertices = null;
int[] indices = null;
ExtractData(ref vertices, ref indices, model);
for (int i = 0; i < indices.Count(); i += 3)
{
TriangleMesh.AddTriangle(vertices[indices[i]], vertices[indices[i + 1]], vertices[indices[i + 2]]);
}
vertices = null;
indices = null;
BvhTriangleMeshShape = new BvhTriangleMeshShape(TriangleMesh, true, true);
this.Shape = BvhTriangleMeshShape;
this.Scale = scale;
Shape.LocalScaling = scale;
Object = LocalCreateRigidBody(0, Matrix.CreateTranslation(pos) * rotation, Shape);
}
public BulletTriangleMesh(IModelo model, Vector3 pos, Matrix rotation, Vector3 scale)
{
TriangleMesh TriangleMesh = new BulletSharp.TriangleMesh(true,false);
Vector3[] vertices = null;
int[] indices = null;
ExtractData(ref vertices, ref indices, model);
for (int i = 0; i < indices.Count(); i+=3)
{
TriangleMesh.AddTriangle(vertices[indices[i]], vertices[indices[i+1]], vertices[indices[i+2]]);
}
vertices = null;
indices = null;
BvhTriangleMeshShape = new BvhTriangleMeshShape(TriangleMesh, true, true);
this.Shape = BvhTriangleMeshShape;
this.Scale = scale;
Shape.LocalScaling = scale;
Object = LocalCreateRigidBody(0, Matrix.CreateTranslation(pos) * rotation, Shape);
}
/// <summary>
/// Give it a mesh and it'll create a BulletSharp.TriangleMesh out of it
/// </summary>
/// <param name="mesh">The mesh you're converting</param>
/// <returns>A bullet trimesh</returns>
public static TriangleMesh Convert(MeshPtr mesh, Vector3 pos, Quaternion orientation, Vector3 scale)
{
// get our two main objects
TriangleMesh BulletMesh = new TriangleMesh(true, false);
Launch.Log("[Loading] Converting " + mesh.Name + " to a BulletSharp.TriangleMesh");
uint vertex_count = default(uint);
Vector3[] vertices = default(Vector3[]);
uint index_count = default(uint);
uint[] indices = default(uint[]);
GetMeshInformation(mesh, ref vertex_count, ref vertices, ref index_count, ref indices, pos, orientation, scale);
BulletMesh.PreallocateIndexes((int) index_count);
BulletMesh.PreallocateVertices((int) vertex_count);
//BulletMesh.WeldingThreshold = 0.1f;
for (int a = 0; a < index_count; a += 3) {
BulletMesh.AddTriangle(vertices[indices[a]], vertices[indices[a + 1]], vertices[indices[a + 2]], true);
}
return BulletMesh;
}
static void TestGCCollection()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new DbvtBroadphase();
//var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
world.Gravity = new Vector3(0, -10, 0);
dispatcher.NearCallback = DispatcherNearCallback;
CreateBody(0.0f, new BoxShape(50, 1, 50), Vector3.Zero);
var dynamicObject = CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0));
var dynamicObject2 = CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0));
var ghostPairCallback = new GhostPairCallback();
broadphase.OverlappingPairCache.SetInternalGhostPairCallback(ghostPairCallback);
AddToDisposeQueue(ghostPairCallback);
ghostPairCallback = null;
var ghostObject = new PairCachingGhostObject();
ghostObject.CollisionShape = new BoxShape(2);
ghostObject.WorldTransform = Matrix.Translation(2,2,0);
world.AddCollisionObject(ghostObject);
var trimesh = new TriangleMesh();
Vector3 v0 = new Vector3(0, 0, 0);
Vector3 v1 = new Vector3(1, 0, 0);
Vector3 v2 = new Vector3(0, 1, 0);
Vector3 v3 = new Vector3(1, 1, 0);
trimesh.AddTriangle(v0, v1, v2);
trimesh.AddTriangle(v1, v3, v2);
var triangleMeshShape = new BvhTriangleMeshShape(trimesh, false);
var triMeshObject = CreateBody(0, triangleMeshShape, new Vector3(20,0,20));
AddToDisposeQueue(triangleMeshShape);
AddToDisposeQueue(trimesh);
AddToDisposeQueue(triMeshObject);
triangleMeshShape = null;
trimesh = null;
AddToDisposeQueue(conf);
AddToDisposeQueue(dispatcher);
AddToDisposeQueue(broadphase);
AddToDisposeQueue(world);
//conf.Dispose();
conf = null;
//dispatcher.Dispose();
dispatcher = null;
//broadphase.Dispose();
broadphase = null;
world.DebugDrawer = new DebugDrawTest();
AddToDisposeQueue(world.DebugDrawer);
world.SetInternalTickCallback(WorldPreTickCallback);
for (int i = 0; i < 600; i++)
{
world.StepSimulation(1.0f / 60.0f);
}
world.DispatchInfo.DebugDraw = new DebugDrawTest2();
AddToDisposeQueue(world.DispatchInfo.DebugDraw);
world.DispatchInfo.DebugDraw = world.DispatchInfo.DebugDraw;
AddToDisposeQueue(world.DispatchInfo.DebugDraw);
world.DispatchInfo.DebugDraw = null;
world.DebugDrawer = null;
world.DebugDrawer = new DebugDrawTest2();
world.StepSimulation(1.0f / 60.0f);
world.DebugDrawWorld();
AddToDisposeQueue(world.DispatchInfo.DebugDraw);
world.DebugDrawer = new DebugDrawTest();
world.DebugDrawWorld();
AddToDisposeQueue(world.DebugDrawer);
world.DebugDrawer = null;
TestContactTest(dynamicObject, dynamicObject2);
TestGhostObjectPairs(ghostObject);
TestRayCast(dynamicObject);
TestTriangleMeshRayCast(triMeshObject);
dynamicObject = null;
dynamicObject2 = null;
triMeshObject = null;
//world.SetInternalTickCallback(null);
world.Dispose();
world = null;
GC.Collect(GC.MaxGeneration, GCCollectionMode.Forced);
GC.WaitForPendingFinalizers();
TestWeakRefs();
disposeQueue.Clear();
}
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.
}
protected override void OnInitializePhysics()
{
ManifoldPoint.ContactAdded += MyContactCallback;
SetupEmptyDynamicsWorld();
WavefrontObj wo = new WavefrontObj();
int tcount = wo.LoadObj("data/file.obj");
if (tcount > 0)
{
TriangleMesh trimesh = new TriangleMesh();
trimeshes.Add(trimesh);
Vector3 localScaling = new Vector3(6, 6, 6);
List<int> indices = wo.Indices;
List<Vector3> vertices = wo.Vertices;
int i;
for (i = 0; i < tcount; i++)
{
int index0 = indices[i * 3];
int index1 = indices[i * 3 + 1];
int index2 = indices[i * 3 + 2];
Vector3 vertex0 = vertices[index0] * localScaling;
Vector3 vertex1 = vertices[index1] * localScaling;
Vector3 vertex2 = vertices[index2] * localScaling;
trimesh.AddTriangle(vertex0, vertex1, vertex2);
}
ConvexShape tmpConvexShape = new ConvexTriangleMeshShape(trimesh);
//create a hull approximation
ShapeHull hull = new ShapeHull(tmpConvexShape);
float margin = tmpConvexShape.Margin;
hull.BuildHull(margin);
tmpConvexShape.UserObject = hull;
ConvexHullShape convexShape = new ConvexHullShape();
foreach (Vector3 v in hull.Vertices)
{
convexShape.AddPoint(v);
}
if (sEnableSAT)
{
convexShape.InitializePolyhedralFeatures();
}
tmpConvexShape.Dispose();
//hull.Dispose();
CollisionShapes.Add(convexShape);
float mass = 1.0f;
LocalCreateRigidBody(mass, Matrix.Translation(0, 2, 14), convexShape);
const bool useQuantization = true;
CollisionShape concaveShape = new BvhTriangleMeshShape(trimesh, useQuantization);
LocalCreateRigidBody(0, Matrix.Translation(convexDecompositionObjectOffset), concaveShape);
CollisionShapes.Add(concaveShape);
// Bullet Convex Decomposition
FileStream outputFile = new FileStream("file_convex.obj", FileMode.Create, FileAccess.Write);
StreamWriter writer = new StreamWriter(outputFile);
DecompDesc desc = new DecompDesc
{
mVertices = wo.Vertices.ToArray(),
mTcount = tcount,
mIndices = wo.Indices.ToArray(),
mDepth = 5,
mCpercent = 5,
mPpercent = 15,
mMaxVertices = 16,
mSkinWidth = 0.0f
};
MyConvexDecomposition convexDecomposition = new MyConvexDecomposition(writer, this);
desc.mCallback = convexDecomposition;
// HACD
Hacd myHACD = new Hacd();
myHACD.SetPoints(wo.Vertices);
myHACD.SetTriangles(wo.Indices);
myHACD.CompacityWeight = 0.1;
myHACD.VolumeWeight = 0.0;
// HACD parameters
// Recommended parameters: 2 100 0 0 0 0
int nClusters = 2;
const double concavity = 100;
//bool invert = false;
const bool addExtraDistPoints = false;
const bool addNeighboursDistPoints = false;
const bool addFacesPoints = false;
myHACD.NClusters = nClusters; // minimum number of clusters
myHACD.VerticesPerConvexHull = 100; // max of 100 vertices per convex-hull
myHACD.Concavity = concavity; // maximum concavity
myHACD.AddExtraDistPoints = addExtraDistPoints;
myHACD.AddNeighboursDistPoints = addNeighboursDistPoints;
myHACD.AddFacesPoints = addFacesPoints;
myHACD.Compute();
nClusters = myHACD.NClusters;
myHACD.Save("output.wrl", false);
if (true)
{
CompoundShape compound = new CompoundShape();
CollisionShapes.Add(compound);
Matrix trans = Matrix.Identity;
for (int c = 0; c < nClusters; c++)
{
//generate convex result
Vector3[] points;
int[] triangles;
myHACD.GetCH(c, out points, out triangles);
ConvexResult r = new ConvexResult(points, triangles);
convexDecomposition.ConvexDecompResult(r);
}
for (i = 0; i < convexDecomposition.convexShapes.Count; i++)
{
Vector3 centroid = convexDecomposition.convexCentroids[i];
trans = Matrix.Translation(centroid);
ConvexHullShape convexShape2 = convexDecomposition.convexShapes[i] as ConvexHullShape;
compound.AddChildShape(trans, convexShape2);
RigidBody body = LocalCreateRigidBody(1.0f, trans, convexShape2);
}
#if true
mass = 10.0f;
trans = Matrix.Translation(-convexDecompositionObjectOffset);
RigidBody body2 = LocalCreateRigidBody(mass, trans, compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = 6;
trans = Matrix.Translation(-convexDecompositionObjectOffset);
body2 = LocalCreateRigidBody(mass, trans, compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = -6;
trans = Matrix.Translation(-convexDecompositionObjectOffset);
body2 = LocalCreateRigidBody(mass, trans, compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
#endif
}
writer.Dispose();
outputFile.Dispose();
}
}
protected override void OnInitializePhysics()
{
ManifoldPoint.ContactAdded += MyContactCallback;
SetupEmptyDynamicsWorld();
CompoundCollisionAlgorithm.CompoundChildShapePairCallback = MyCompoundChildShapeCallback;
convexDecompositionObjectOffset = new Vector3(10, 0, 0);
// Load wavefront file
var wo = new WavefrontObj();
int tcount = wo.LoadObj("data/file.obj");
if (tcount == 0)
{
return;
}
// Convert file data to TriangleMesh
var trimesh = new TriangleMesh();
trimeshes.Add(trimesh);
Vector3 localScaling = new Vector3(6, 6, 6);
List<int> indices = wo.Indices;
List<Vector3> vertices = wo.Vertices;
int i;
for (i = 0; i < tcount; i++)
{
int index0 = indices[i * 3];
int index1 = indices[i * 3 + 1];
int index2 = indices[i * 3 + 2];
Vector3 vertex0 = vertices[index0] * localScaling;
Vector3 vertex1 = vertices[index1] * localScaling;
Vector3 vertex2 = vertices[index2] * localScaling;
trimesh.AddTriangleRef(ref vertex0, ref vertex1, ref vertex2);
}
// Create a hull approximation
ConvexHullShape convexShape;
using (var tmpConvexShape = new ConvexTriangleMeshShape(trimesh))
{
using (var hull = new ShapeHull(tmpConvexShape))
{
hull.BuildHull(tmpConvexShape.Margin);
convexShape = new ConvexHullShape(hull.Vertices);
}
}
if (sEnableSAT)
{
convexShape.InitializePolyhedralFeatures();
}
CollisionShapes.Add(convexShape);
// Add non-moving body to world
float mass = 1.0f;
LocalCreateRigidBody(mass, Matrix.Translation(0, 2, 14), convexShape);
const bool useQuantization = true;
var concaveShape = new BvhTriangleMeshShape(trimesh, useQuantization);
LocalCreateRigidBody(0, Matrix.Translation(convexDecompositionObjectOffset), concaveShape);
CollisionShapes.Add(concaveShape);
// HACD
var hacd = new Hacd();
hacd.SetPoints(wo.Vertices);
hacd.SetTriangles(wo.Indices);
hacd.CompacityWeight = 0.1;
hacd.VolumeWeight = 0.0;
// Recommended HACD parameters: 2 100 false false false
hacd.NClusters = 2; // minimum number of clusters
hacd.Concavity = 100; // maximum concavity
hacd.AddExtraDistPoints = false;
hacd.AddNeighboursDistPoints = false;
hacd.AddFacesPoints = false;
hacd.NumVerticesPerConvexHull = 100; // max of 100 vertices per convex-hull
hacd.Compute();
hacd.Save("output.wrl", false);
// Generate convex result
var outputFile = new FileStream("file_convex.obj", FileMode.Create, FileAccess.Write);
var writer = new StreamWriter(outputFile);
var convexDecomposition = new ConvexDecomposition(writer, this);
convexDecomposition.LocalScaling = localScaling;
for (int c = 0; c < hacd.NClusters; c++)
{
Vector3[] points;
int[] triangles;
hacd.GetCH(c, out points, out triangles);
convexDecomposition.ConvexDecompResult(points, triangles);
}
// Combine convex shapes into a compound shape
var compound = new CompoundShape();
for (i = 0; i < convexDecomposition.convexShapes.Count; i++)
{
Vector3 centroid = convexDecomposition.convexCentroids[i];
var convexShape2 = convexDecomposition.convexShapes[i];
Matrix trans = Matrix.Translation(centroid);
if (sEnableSAT)
{
convexShape2.InitializePolyhedralFeatures();
}
CollisionShapes.Add(convexShape2);
compound.AddChildShape(trans, convexShape2);
LocalCreateRigidBody(1.0f, trans, convexShape2);
}
CollisionShapes.Add(compound);
writer.Dispose();
outputFile.Dispose();
#if true
mass = 10.0f;
var body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = 6;
body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = -6;
body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
#endif
}
public void ConvexDecompResult(Vector3[] hullVertices, int[] hullIndices)
{
if (output == null)
return;
output.WriteLine("## Hull Piece {0} with {1} vertices and {2} triangles.", convexShapes.Count, hullVertices.Length, hullIndices.Length / 3);
output.WriteLine("usemtl Material{0}", mBaseCount);
output.WriteLine("o Object{0}", mBaseCount);
foreach (Vector3 p in hullVertices)
{
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
Vector3 centroid = Vector3.Zero;
foreach (Vector3 vertex in hullVertices)
{
centroid += vertex * LocalScaling;
}
centroid /= (float)hullVertices.Length;
List<Vector3> outVertices = new List<Vector3>();
foreach (Vector3 vertex in hullVertices)
{
outVertices.Add(vertex * LocalScaling - centroid);
}
// Create TriangleMesh
var trimesh = new TriangleMesh();
for (int i = 0; i < hullIndices.Length; i += 3)
{
int index0 = hullIndices[i];
int index1 = hullIndices[i + 1];
int index2 = hullIndices[i + 2];
Vector3 vertex0 = hullVertices[index0] * LocalScaling - centroid;
Vector3 vertex1 = hullVertices[index1] * LocalScaling - centroid;
Vector3 vertex2 = hullVertices[index2] * LocalScaling - centroid;
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;
AlignedVector3Array planeEquations;
GeometryUtil.GetPlaneEquationsFromVertices(hullVertices, planeEquations);
AlignedVector3Array shiftedPlaneEquations;
for (int p=0;p<planeEquations.Count;p++)
{
Vector3 plane = planeEquations[p];
plane[3] += collisionMargin;
shiftedPlaneEquations.Add(plane);
}
AlignedVector3Array shiftedVertices;
GeometryUtil.GetVerticesFromPlaneEquations(shiftedPlaneEquations, shiftedVertices);
ConvexHullShape convexShape = new ConvexHullShape(shiftedVertices);
#else //SHRINK_OBJECT_INWARDS
ConvexHullShape convexShape = new ConvexHullShape(outVertices);
#endif
convexShape.Margin = 0.01f;
convexShapes.Add(convexShape);
convexCentroids.Add(centroid);
mBaseCount += hullVertices.Length; // advance the 'base index' counter.
}
CollisionShape bulletGetCollisionShape(Shape shape, SceneNode node)
{
switch (shape)
{
case Shape.Box:
{
return new BoxShape(node.BoundingBox.Extent.X / 2);
}
case Shape.Shpere:
{
return new SphereShape(node.BoundingBox.Extent.X / 2);
}
case Shape.Mesh:
{
MeshSceneNode meshNode = node as MeshSceneNode;
if (meshNode == null)
throw new ArgumentException();
TriangleMesh triangleMesh = new TriangleMesh();
for (int i = 0; i < meshNode.Mesh.MeshBufferCount; i++)
{
MeshBuffer b = meshNode.Mesh.GetMeshBuffer(i);
ushort[] inds = b.Indices as ushort[];
Vertex3DTTCoords[] verts = b.Vertices as Vertex3DTTCoords[];
if (inds == null || verts == null)
throw new ArgumentException();
for (int j = 0; j < inds.Length; j += 3)
{
Vector3Df v0 = verts[inds[j + 0]].Position;
Vector3Df v1 = verts[inds[j + 1]].Position;
Vector3Df v2 = verts[inds[j + 2]].Position;
triangleMesh.AddTriangle(
new Vector3(v0.X, v0.Y, v0.Z),
new Vector3(v1.X, v1.Y, v1.Z),
new Vector3(v2.X, v2.Y, v2.Z));
}
}
return new BvhTriangleMeshShape(triangleMesh, false);
}
default:
throw new ArgumentException();
}
}
protected override void OnInitializePhysics()
{
ManifoldPoint.ContactAdded += MyContactCallback;
SetupEmptyDynamicsWorld();
//CompoundCollisionAlgorithm.CompoundChildShapePairCallback = MyCompoundChildShapeCallback;
convexDecompositionObjectOffset = new Vector3(10, 0, 0);
// Load wavefront file
var wo = new WavefrontObj();
//string filename = UnityEngine.Application.dataPath + "/BulletUnity/Examples/Scripts/BulletSharpDemos/ConvexDecompositionDemo/data/file.obj";
UnityEngine.TextAsset bytes = (UnityEngine.TextAsset)UnityEngine.Resources.Load("file.obj");
System.IO.Stream byteStream = new System.IO.MemoryStream(bytes.bytes);
int tcount = wo.LoadObj(byteStream);
if (tcount == 0)
{
return;
}
// Convert file data to TriangleMesh
var trimesh = new TriangleMesh();
trimeshes.Add(trimesh);
Vector3 localScaling = new Vector3(6, 6, 6);
List<int> indices = wo.Indices;
List<Vector3> vertices = wo.Vertices;
int i;
for (i = 0; i < tcount; i++)
{
int index0 = indices[i * 3];
int index1 = indices[i * 3 + 1];
int index2 = indices[i * 3 + 2];
Vector3 vertex0 = vertices[index0] * localScaling;
Vector3 vertex1 = vertices[index1] * localScaling;
Vector3 vertex2 = vertices[index2] * localScaling;
trimesh.AddTriangleRef(ref vertex0, ref vertex1, ref vertex2);
}
// Create a hull approximation
ConvexHullShape convexShape;
using (var tmpConvexShape = new ConvexTriangleMeshShape(trimesh))
{
using (var hull = new ShapeHull(tmpConvexShape))
{
hull.BuildHull(tmpConvexShape.Margin);
convexShape = new ConvexHullShape(hull.Vertices);
}
}
if (sEnableSAT)
{
convexShape.InitializePolyhedralFeatures();
}
CollisionShapes.Add(convexShape);
// Add non-moving body to world
float mass = 1.0f;
LocalCreateRigidBody(mass, Matrix.Translation(0, 2, 14), convexShape);
const bool useQuantization = true;
var concaveShape = new BvhTriangleMeshShape(trimesh, useQuantization);
LocalCreateRigidBody(0, Matrix.Translation(convexDecompositionObjectOffset), concaveShape);
CollisionShapes.Add(concaveShape);
// HACD
var hacd = new Hacd();
hacd.SetPoints(wo.Vertices);
hacd.SetTriangles(wo.Indices);
hacd.CompacityWeight = 0.1;
hacd.VolumeWeight = 0.0;
// Recommended HACD parameters: 2 100 false false false
hacd.NClusters = 2; // minimum number of clusters
hacd.Concavity = 100; // maximum concavity
hacd.AddExtraDistPoints = false;
hacd.AddNeighboursDistPoints = false;
hacd.AddFacesPoints = false;
hacd.NVerticesPerCH = 100; // max of 100 vertices per convex-hull
hacd.Compute();
hacd.Save("output.wrl", false);
// Generate convex result
var outputFile = new FileStream("file_convex.obj", FileMode.Create, FileAccess.Write);
var writer = new StreamWriter(outputFile);
var convexDecomposition = new ConvexDecomposition(writer, this);
convexDecomposition.LocalScaling = localScaling;
for (int c = 0; c < hacd.NClusters; c++)
{
int nVertices = hacd.GetNPointsCH(c);
int trianglesLen = hacd.GetNTrianglesCH(c) * 3;
double[] points = new double[nVertices * 3];
long[] triangles = new long[trianglesLen];
hacd.GetCH(c, points, triangles);
if (trianglesLen == 0)
{
continue;
}
Vector3[] verticesArray = new Vector3[nVertices];
int vi3 = 0;
for (int vi = 0; vi < nVertices; vi++)
{
verticesArray[vi] = new Vector3(
(float)points[vi3], (float)points[vi3 + 1], (float)points[vi3 + 2]);
vi3 += 3;
}
int[] trianglesInt = new int[trianglesLen];
for (int ti = 0; ti < trianglesLen; ti++)
{
trianglesInt[ti] = (int)triangles[ti];
}
convexDecomposition.ConvexDecompResult(verticesArray, trianglesInt);
}
// Combine convex shapes into a compound shape
var compound = new CompoundShape();
for (i = 0; i < convexDecomposition.convexShapes.Count; i++)
{
Vector3 centroid = convexDecomposition.convexCentroids[i];
var convexShape2 = convexDecomposition.convexShapes[i];
Matrix trans = Matrix.Translation(centroid);
if (sEnableSAT)
{
convexShape2.InitializePolyhedralFeatures();
}
CollisionShapes.Add(convexShape2);
compound.AddChildShape(trans, convexShape2);
LocalCreateRigidBody(1.0f, trans, convexShape2);
}
CollisionShapes.Add(compound);
writer.Dispose();
outputFile.Dispose();
#if true
mass = 10.0f;
var body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = 6;
body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = -6;
body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
#endif
}