private CompoundShape CreateCompoundShape(Hacd hacd, Vector3 localScaling)
{
var wavefrontWriter = new WavefrontWriter("file_convex.obj");
var convexDecomposition = new ConvexDecomposition(wavefrontWriter)
{
LocalScaling = localScaling
};
for (int c = 0; c < hacd.NClusters; c++)
{
int trianglesLen = hacd.GetNTrianglesCH(c) * 3;
if (trianglesLen == 0)
{
continue;
}
var triangles = new long[trianglesLen];
int nVertices = hacd.GetNPointsCH(c);
var points = new double[nVertices * 3];
hacd.GetCH(c, points, triangles);
var 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;
}
convexDecomposition.Result(verticesArray, triangles);
}
wavefrontWriter.Dispose();
// Combine convex shapes into a compound shape
var compoundShape = new CompoundShape();
for (int i = 0; i < convexDecomposition.ConvexShapes.Count; i++)
{
Vector3 centroid = convexDecomposition.ConvexCentroids[i];
var convexShape = convexDecomposition.ConvexShapes[i];
Matrix trans = Matrix.Translation(centroid);
if (_enableSat)
{
convexShape.InitializePolyhedralFeatures();
}
compoundShape.AddChildShape(trans, convexShape);
PhysicsHelper.CreateBody(1.0f, trans, convexShape, World);
}
return(compoundShape);
}
private CompoundShape CreateCompoundShape(Hacd hacd, Vector3 localScaling)
{
var wavefrontWriter = new WavefrontWriter("file_convex.obj");
var convexDecomposition = new ConvexDecomposition(wavefrontWriter)
{
LocalScaling = localScaling
};
for (int c = 0; c < hacd.NClusters; c++)
{
int trianglesLen = hacd.GetNTrianglesCH(c) * 3;
if (trianglesLen == 0)
{
continue;
}
Vector3[] points;
int[] triangles;
hacd.GetCH(c, out points, out triangles);
convexDecomposition.Result(points, triangles);
}
wavefrontWriter.Dispose();
// Combine convex shapes into a compound shape
var compoundShape = new CompoundShape();
for (int i = 0; i < convexDecomposition.ConvexShapes.Count; i++)
{
Vector3 centroid = convexDecomposition.ConvexCentroids[i];
var convexShape = convexDecomposition.ConvexShapes[i];
Matrix trans = Matrix.Translation(centroid);
if (_enableSat)
{
convexShape.InitializePolyhedralFeatures();
}
compoundShape.AddChildShape(trans, convexShape);
LocalCreateRigidBody(1.0f, trans, convexShape);
}
return(compoundShape);
}
public ConvexDecomposition(WavefrontWriter wavefrontWriter = null)
{
_wavefrontWriter = wavefrontWriter;
}