internal static object CreateMeshShapeF(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
{
ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
var world = pWorld as DiscreteDynamicsWorld;
IndexedMesh mesh = new IndexedMesh();
mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
mesh.m_numTriangles = pIndicesCount / 3;
mesh.m_numVertices = pVerticesCount;
mesh.m_triangleIndexBase = indicesarr;
mesh.m_vertexBase = vertices;
mesh.m_vertexStride = 3;
mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
mesh.m_triangleIndexStride = 3;
TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, false, true);
//TriangleMeshShape meshShape = new TriangleMeshShape(tribuilder);
//meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
float margin = 0.02f;
meshShape.SetMargin(margin);
return meshShape;
}
public override void InitializeDemo()
{
SetCameraDistance(50);
int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);
int vertStride = 1;
int indexStride = 3;
BulletGlobals.gContactAddedCallback = new CustomMaterialCombinerCallback();
gVertices = new ObjectArray<IndexedVector3>(totalVerts);
gIndices = new ObjectArray<int>(totalTriangles * 3);
SetVertexPositions(waveheight, 0.0f);
gVertices.GetRawArray()[1].Y = 0.1f;
int index=0;
int i, j;
for (i=0;i<NUM_VERTS_X-1;i++)
{
for (j=0;j<NUM_VERTS_Y-1;j++)
{
#if SWAP_WINDING
#if SHIFT_INDICES
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
#else
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
#endif //SHIFT_INDICES
#else //SWAP_WINDING
#if SHIFT_INDICES
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
#if TEST_INCONSISTENT_WINDING
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
#else //TEST_INCONSISTENT_WINDING
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
#endif //TEST_INCONSISTENT_WINDING
#else //SHIFT_INDICES
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
#endif //SHIFT_INDICES
#endif //SWAP_WINDING
}
}
m_indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts, gVertices, vertStride);
bool useQuantizedAabbCompression = true;
IndexedVector3 aabbMin = new IndexedVector3 (-1000,-1000,-1000);
IndexedVector3 aabbMax = new IndexedVector3(1000, 1000, 1000);
trimeshShape = new BvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,ref aabbMin,ref aabbMax,true);
CollisionShape groundShape = trimeshShape;
TriangleInfoMap triangleInfoMap = new TriangleInfoMap();
InternalEdgeUtility.GenerateInternalEdgeInfo(trimeshShape, triangleInfoMap);
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
m_dynamicsWorld.SetDebugDrawer(m_debugDraw);
IndexedVector3 gravity = new IndexedVector3(0,-10,0);
m_dynamicsWorld.SetGravity(ref gravity);
float mass = 0.0f;
IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-2,0));
ConvexHullShape colShape = new ConvexHullShape(new List<IndexedVector3>(), 0);
for (int k=0;k<DemoMeshes.TaruVtxCount;k++)
{
IndexedVector3 vtx = DemoMeshes.TaruVtx[k];
colShape.AddPoint(ref vtx);
}
//this will enable polyhedral contact clipping, better quality, slightly slower
//colShape.InitializePolyhedralFeatures();
//the polyhedral contact clipping can use either GJK or SAT test to find the separating axis
m_dynamicsWorld.GetDispatchInfo().m_enableSatConvex=false;
{
//for (int i2 = 0; i2 < 1; i2++)
//{
// startTransform._origin = new IndexedVector3(-10.0f + i2 * 3.0f, 2.2f + i2 * 0.1f, -1.3f);
// RigidBody body = LocalCreateRigidBody(10, startTransform, colShape);
// body.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// body.SetLinearVelocity(new IndexedVector3(0, 0, -1));
// //body->setContactProcessingThreshold(0.f);
//}
}
{
BoxShape colShape2 = new BoxShape(new IndexedVector3(1, 1, 1));
//colShape.InitializePolyhedralFeatures();
m_collisionShapes.Add(colShape2);
startTransform._origin = new IndexedVector3(-16.0f + i * 3.0f, 1.0f + i * 0.1f, -1.3f);
RigidBody body = LocalCreateRigidBody(10, startTransform, colShape2);
body.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
body.SetLinearVelocity(new IndexedVector3(0, 0, -1));
}
startTransform = IndexedMatrix.Identity;
staticBody = LocalCreateRigidBody(mass, startTransform,groundShape);
//staticBody->setContactProcessingThreshold(-0.031f);
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT);//STATIC_OBJECT);
//enable custom material callback
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
m_debugDraw.SetDebugMode(DebugDrawModes.DBG_DrawText | DebugDrawModes.DBG_NoHelpText | DebugDrawModes.DBG_DrawWireframe | DebugDrawModes.DBG_DrawContactPoints);
//base.InitializeDemo();
//ClientResetScene();
}
public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount)
{
String fileName = "objTest6.raw";
String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
StreamWriter sw = new StreamWriter(completePath);
IndexedMesh mesh = new IndexedMesh();
mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
mesh.m_numTriangles = pIndicesCount / 3;
mesh.m_numVertices = pVerticesCount;
mesh.m_triangleIndexBase = indices;
mesh.m_vertexBase = vertices;
mesh.m_vertexStride = 3;
mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
mesh.m_triangleIndexStride = 3;
TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
sw.WriteLine("Indices");
sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount));
for (int iter = 0; iter < indices.Length; iter++)
{
sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter]));
}
sw.WriteLine("VerticesFloats");
sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount));
for (int iter = 0; iter < vertices.Length; iter++)
{
sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000")));
}
// for (int i = 0; i < pVerticesCount; i++)
// {
//
// string s = vertices[indices[i * 3]].ToString("0.0000");
// s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
// s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
//
// sw.Write(s + "\n");
//}
sw.Close();
}
public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
{
String fileName = "objTest3.raw";
String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
StreamWriter sw = new StreamWriter(completePath);
IndexedMesh mesh = new IndexedMesh();
mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
mesh.m_numTriangles = pIndicesCount / 3;
mesh.m_numVertices = pVerticesCount;
mesh.m_triangleIndexBase = indices;
mesh.m_vertexBase = vertices;
mesh.m_vertexStride = 3;
mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
mesh.m_triangleIndexStride = 3;
TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
for (int i = 0; i < pVerticesCount; i++)
{
string s = vertices[indices[i * 3]].ToString("0.0000");
s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
sw.Write(s + "\n");
}
sw.Close();
}
public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
{
//DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
for (int iter = 0; iter < pVerticesCount; iter++)
{
if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
}
ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
IndexedMesh mesh = new IndexedMesh();
mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
mesh.m_numTriangles = pIndicesCount/3;
mesh.m_numVertices = pVerticesCount;
mesh.m_triangleIndexBase = indicesarr;
mesh.m_vertexBase = vertices;
mesh.m_vertexStride = 3;
mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
mesh.m_triangleIndexStride = 3;
TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
// world.UpdateSingleAabb(meshShape);
return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH);
}
public CollisionShape BuildCorner()
{
// slope.
IndexedVector3[] vertices = new IndexedVector3[]{new IndexedVector3(0,0,0),new IndexedVector3(1,0,0),new IndexedVector3(0,0,1),new IndexedVector3(1,0,1),
new IndexedVector3(0,1,0),new IndexedVector3(1,1,0),new IndexedVector3(0,1,1),new IndexedVector3(1,1,1)};
//int[] indices = new int[] { 0, 4, 5, 4, 6, 7, 7, 5, 4, 0, 4, 6, 6, 2, 0, 2, 6, 7, 4,5,0,2,2,7,5};
//int[] indices = new int[] { 0, 4, 5, 4, 6, 7, 7, 5, 4, 6, 4,0,0,2,6, 7, 6, 2, 4, 5, 0, 2, 2, 7, 5 };
int[] indices = new int[] { 1,4,5,
1,5,7,
7,3,1,
3,7,6,
7,5,4,
4,6,7,
4,1,3,
3,6,4
};
int vertStride = 1;
int indexStride = 3;
ObjectArray<IndexedVector3> vertexArray = new ObjectArray<IndexedVector3>();
for (int i = 0; i < vertices.Length; ++i)
{
vertexArray.Add(vertices[i]);
}
ObjectArray<int> intArray = new ObjectArray<int>();
for (int i = 0; i < indices.Length; ++i)
{
intArray.Add(indices[i]);
}
TriangleIndexVertexArray indexVertexArray = new TriangleIndexVertexArray(indices.Length/3, intArray, indexStride, vertexArray.Count, vertexArray, vertStride);
TriangleMeshShape triangleMesh = new TriangleMeshShape(indexVertexArray);
//TriangleMeshShape triangleMesh = new BvhTriangleMeshShape(indexVertexArray,true,true);
return triangleMesh;
}
public override void InitializeDemo()
{
//string filename = @"E:\users\man\bullet\xna-concaveray-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
m_cameraDistance = 400f;
m_farClip = 1500f;
m_perspective = IndexedMatrix.CreatePerspectiveFieldOfView(MathHelper.ToRadians(40.0f), m_aspect, m_nearClip, m_farClip);
m_animatedMesh = true;
base.InitializeDemo();
int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);
gVertices = new ObjectArray<IndexedVector3>(totalVerts);
int indicesTotal = totalTriangles * 3;
gIndices = new ObjectArray<int>(indicesTotal);
BulletGlobals.gContactAddedCallback = null;
SetVertexPositions(waveheight,0f);
int vertStride = 1;
int indexStride = 3;
int index=0;
//for (int i=0;i<NUM_VERTS_X-1;i++)
//{
// for (int j=0;j<NUM_VERTS_Y-1;j++)
// {
// gIndices[index++] = j * NUM_VERTS_X + i;
// gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
// gIndices[index++] = j * NUM_VERTS_X + i + 1;
// gIndices[index++] = j * NUM_VERTS_X + i;
// gIndices[index++] = (j + 1) * NUM_VERTS_X + i;
// gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
// }
//}
for (int i = 0; i < NUM_VERTS_X - 1; i++)
{
for (int j = 0; j < NUM_VERTS_Y - 1; j++)
{
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = j * NUM_VERTS_X + i + 1;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i;
}
}
TriangleIndexVertexArray indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
gIndices,indexStride,totalVerts,gVertices,vertStride);
bool useQuantizedAabbCompression = true;
float minX = NUM_VERTS_X * TRIANGLE_SIZE * 0.5f;
float minZ = NUM_VERTS_Y * TRIANGLE_SIZE * 0.5f;
//OptimizedBvh bvh = new OptimizedBvh();
IndexedVector3 aabbMin = new IndexedVector3(-minX,-5,-minZ);
IndexedVector3 aabbMax = new IndexedVector3(minX,5,minZ);
m_trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression, ref aabbMin, ref aabbMax, true);
//m_trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression,true);
IndexedVector3 scaling = IndexedVector3.One;
CollisionShape groundShape = m_trimeshShape;
//groundShape = new TriangleMeshShape(indexVertexArrays);
//groundShape = new StaticPlaneShape(IndexedVector3.Up, 0f);
IndexedVector3 up = new IndexedVector3(0.4f,1,0);
up.Normalize();
//groundShape = new StaticPlaneShape(up, 0f);
//groundShape = new BoxShape(new IndexedVector3(1000, 10, 1000));
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = aabbMin;
IndexedVector3 worldMax = aabbMax;
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
float mass = 0f;
IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(2,-2,0));
startTransform = IndexedMatrix.Identity;
staticBody = LocalCreateRigidBody(mass, ref startTransform,groundShape);
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT);//STATIC_OBJECT);
//enable custom material callback
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
//m_raycastBar = new btRaycastBar (m_debugDraw,4000.0f, 0.0f,-1000,30);
m_raycastBar = new btRaycastBar(m_debugDraw, 300.0f, 0.0f, -1000, 200,worldMin.X,worldMax.X);
m_raycastBar.min_x = -100;
m_raycastBar.max_x = -100;
ClientResetScene();
}
public static CollisionShape BuildCorner(IndexedVector3[] vertices, int[] indices)
{
int vertStride = 1;
int indexStride = 3;
ObjectArray<IndexedVector3> vertexArray = new ObjectArray<IndexedVector3>();
for (int i = 0; i < vertices.Length; ++i)
{
vertexArray.Add(vertices[i]);
}
ObjectArray<int> intArray = new ObjectArray<int>();
for (int i = 0; i < indices.Length; ++i)
{
intArray.Add(indices[i]);
}
TriangleIndexVertexArray indexVertexArray = new TriangleIndexVertexArray(indices.Length / 3, intArray, indexStride, vertexArray.Count, vertexArray, vertStride);
TriangleMeshShape triangleMesh = new TriangleMeshShape(indexVertexArray);
return triangleMesh;
}
public void InitGImpactCollision()
{
/// Create Torus Shape
{
m_indexVertexArrays = new TriangleIndexVertexArray(DemoMeshes.TORUS_NUM_TRIANGLES, DemoMeshes.gTorusIndices, 3, DemoMeshes.TORUS_NUM_VERTICES, DemoMeshes.gTorusVertices, 3);
#if BULLET_GIMPACT_CONVEX_DECOMPOSITION
btGImpactConvexDecompositionShape * trimesh = new
btGImpactConvexDecompositionShape(
m_indexVertexArrays, IndexedVector3(1.f,1.f,1.f),btScalar(0.01));
trimesh->setMargin(0.07);
trimesh->updateBound();
#else
//GImpactMeshShape trimesh = new GImpactMeshShape(m_indexVertexArrays);
//IndexedVector3 scaling = IndexedVector3.One;
//trimesh.SetLocalScaling(ref scaling);
//trimesh.SetMargin(0.07f); ///?????
//trimesh.UpdateBound();
#endif
//m_trimeshShape = trimesh;
}
/// Create Bunny Shape
{
m_indexVertexArrays2 = new TriangleIndexVertexArray(DemoMeshes.BUNNY_NUM_TRIANGLES, DemoMeshes.gBunnyIndices, 3, DemoMeshes.BUNNY_NUM_VERTICES, DemoMeshes.gBunnyVertices, 3);
#if BULLET_GIMPACT_CONVEX_DECOMPOSITION
btGImpactConvexDecompositionShape * trimesh2 = new
btGImpactConvexDecompositionShape(
m_indexVertexArrays2, IndexedVector3(4.f,4.f,4.f),btScalar(0.01));
trimesh2->setMargin(0.07);
trimesh2->updateBound();
#else
GImpactMeshShape trimesh2 = new GImpactMeshShape(m_indexVertexArrays2);
IndexedVector3 scaling = new IndexedVector3(4.0f, 4.0f, 4.0f);
trimesh2.SetLocalScaling(ref scaling);
//trimesh2.SetMargin(0.07f); ///?????
trimesh2.UpdateBound();
#endif
m_trimeshShape2 = trimesh2;
}
///register GIMPACT algorithm
CollisionDispatcher dispatcher = m_dynamicsWorld.GetDispatcher() as CollisionDispatcher;
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
}
//-----------------------------------------------------------------------------------------------
public override void InitializeDemo()
{
//string filename = @"C:\users\man\bullett\xna-concave-output.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
m_animatedMesh = true;
base.InitializeDemo();
int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);
gVertices = new ObjectArray<IndexedVector3>(totalVerts);
int indicesTotal = totalTriangles * 3;
gIndices = new ObjectArray<int>(indicesTotal);
//BulletGlobals.gContactAddedCallback = new CustomMaterialCombinerCallback();
SetVertexPositions(waveheight,0f);
int vertStride = 1;
int indexStride = 3;
int index=0;
for (int i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = j * NUM_VERTS_X + i + 1;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i;
}
}
if (BulletGlobals.g_streamWriter != null)
{
index = 0;
BulletGlobals.g_streamWriter.WriteLine("setIndexPositions");
for (int i = 0; i < gIndices.Count; i++)
{
BulletGlobals.g_streamWriter.WriteLine(String.Format("{0} {1}", i, gIndices[i]));
}
}
TriangleIndexVertexArray indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
gIndices,indexStride,totalVerts,gVertices,vertStride);
bool useQuantizedAabbCompression = true;
OptimizedBvh bvh = new OptimizedBvh();
IndexedVector3 aabbMin = new IndexedVector3(-1000,-1000,-1000);
IndexedVector3 aabbMax = new IndexedVector3(1000,1000,1000);
m_trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression, ref aabbMin, ref aabbMax, true);
//CollisionShape trimeshShape = new TriangleMeshShape(indexVertexArrays);
IndexedVector3 scaling = IndexedVector3.One;
//m_trimeshShape.SetOptimizedBvh(bvh, ref scaling);
//BulletWorldImporter import = new BulletWorldImporter(0);//don't store info into the world
//if (import.loadFile("myShape.bullet"))
//{
// int numBvh = import.getNumBvhs();
// if (numBvh != 0)
// {
// OptimizedBvh bvh = import.getBvhByIndex(0);
// IndexedVector3 aabbMin = new IndexedVector3(-1000,-1000,-1000);
// IndexedVector3 aabbMax = new IndexedVector3(1000,1000,1000);
// trimeshShape = new indexVertexArrays,useQuantizedAabbCompression,ref aabbMin,ref aabbMax,false);
// IndexedVector3 scaling = IndexedVector3.One;
// trimeshShape.setOptimizedBvh(bvh, ref scaling);
// //trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax);
// //trimeshShape.setOptimizedBvh(bvh);
// }
// int numShape = import.getNumCollisionShapes();
// if (numShape != 0)
// {
// trimeshShape = (BvhTriangleMeshShape)import.getCollisionShapeByIndex(0);
// //if you know the name, you can also try to get the shape by name:
// String meshName = import.getNameForPointer(trimeshShape);
// if (meshName != null)
// {
// trimeshShape = (BvhTriangleMeshShape)import.getCollisionShapeByName(meshName);
// }
// }
//}
//CollisionShape groundShape = trimeshShape;//m_trimeshShape;
CollisionShape groundShape = m_trimeshShape;//m_trimeshShape;
//groundShape = new TriangleShape(new IndexedVector3(0,` 0, 100), new IndexedVector3(100, 0, 0),new IndexedVector3(-100, 0, -100));
//groundShape = new StaticPlaneShape(IndexedVector3.Up, 0f);
//groundShape = new BoxShape(new IndexedVector3(100f, 0.1f, 100f));
IndexedVector3 up = new IndexedVector3(0.4f,1,0);
up.Normalize();
//groundShape = new StaticPlaneShape(up, 0f);
//groundShape = new TriangleMeshShape(indexVertexArrays);
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3(-1000,-1000,-1000);
IndexedVector3 worldMax = new IndexedVector3(1000,1000,1000);
//m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
m_broadphase = new DbvtBroadphase();
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
float mass = 0f;
IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(2,-2,0));
//CompoundShape colShape = new CompoundShape();
//IndexedVector3 halfExtents = new IndexedVector3(4, 1, 1);
//CollisionShape cylinderShape = new CylinderShapeX(ref halfExtents);
//CollisionShape boxShape = new BoxShape(new IndexedVector3(4, 1, 1));
//IndexedMatrix localTransform = IndexedMatrix.Identity;
//colShape.addChildShape(ref localTransform, boxShape);
//Quaternion orn = Quaternion.CreateFromYawPitchRoll(MathUtil.SIMD_HALF_PI, 0f, 0f);
//localTransform = IndexedMatrix.CreateFromQuaternion(orn);
//colShape.addChildShape(ref localTransform, cylinderShape);
////BoxShape colShape = new BoxShape(new IndexedVector3(1, 1, 1));
//int numCollideObjects = 1;
//m_collisionShapes.Add(colShape);
//{
// for (int i = 0; i < numCollideObjects; i++)
// {
// startTransform._origin = new IndexedVector3(4,10+i*2,1);
// localCreateRigidBody(1, ref startTransform,colShape);
// }
//}
CollisionShape boxShape = new BoxShape(new IndexedVector3(1, 1, 1));
//CollisionShape boxShape = new SphereShape(1);
//CollisionShape boxShape = new SphereShape(1);
//CollisionShape boxShape = new CapsuleShapeZ(0.5f, 1);
m_collisionShapes.Add(boxShape);
for (int i = 0; i < 1; i++)
{
startTransform._origin = new IndexedVector3(2f * i, 5, 1);
LocalCreateRigidBody(1, ref startTransform, boxShape);
}
startTransform = IndexedMatrix.Identity;
staticBody = LocalCreateRigidBody(mass, ref startTransform,groundShape);
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT);//STATIC_OBJECT);
//enable custom material callback
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
//clientResetScene();
}
CollisionShape BuildLargeMesh()
{
//int vertStride = sizeof(IndexedVector3);
//int indexStride = 3*sizeof(int);
int vertStride = 1;
int indexStride = 3;
ObjectArray<IndexedVector3> vertexArray = new ObjectArray<IndexedVector3>();
for (int i = 0; i < vertices.Length; ++i)
{
vertexArray.Add(vertices[i]);
}
ObjectArray<int> intArray = new ObjectArray<int>();
for (int i = 0; i < indices.Length; ++i)
{
intArray.Add(indices[i]);
}
//TriangleIndexVertexArray indexVertexArray = new TriangleIndexVertexArray(DemoMeshes.BUNNY_NUM_TRIANGLES, DemoMeshes.gBunnyIndices, 3, DemoMeshes.BUNNY_NUM_VERTICES, DemoMeshes.gBunnyVertices, 3);
TriangleIndexVertexArray indexVertexArray = new TriangleIndexVertexArray(numTriangles, intArray, indexStride, vertexArray.Count, vertexArray, vertStride);
TriangleMeshShape triangleMesh = new TriangleMeshShape(indexVertexArray);
//TriangleMeshShape triangleMesh = new BvhTriangleMeshShape(indexVertexArray,true,true);
return triangleMesh;
}