Mesh CreateMultiSphereShape(MultiSphereShape shape)
{
Mesh mesh = null;
int i;
for (i = 0; i < shape.SphereCount; i++)
{
Vector3 position = shape.GetSpherePosition(i);
Mesh sphereMesh = Mesh.CreateSphere(device, shape.GetSphereRadius(i), 12, 12);
if (i == 0)
{
Matrix[] transform = new Matrix[] { Matrix.Translation(position) };
mesh = Mesh.Concatenate(device, new Mesh[] { sphereMesh }, MeshFlags.Managed, transform, null);
}
else
{
Mesh multiSphereMeshNew;
Matrix[] transform = new Matrix[] { Matrix.Identity, Matrix.Translation(position) };
multiSphereMeshNew = Mesh.Concatenate(device, new Mesh[] { mesh, sphereMesh }, MeshFlags.Managed, transform, null);
mesh.Dispose();
mesh = multiSphereMeshNew;
}
sphereMesh.Dispose();
}
complexShapes.Add(shape, mesh);
return(mesh);
}
public static Vector3[] CreateMultiSphere(MultiSphereShape shape, out uint[] indices)
{
List <Vector3[]> allVertices = new List <Vector3[]>();
List <uint[]> allIndices = new List <uint[]>();
int vertexCount = 0;
int indexCount = 0;
int i;
for (i = 0; i < shape.SphereCount; i++)
{
uint[] sphereIndices;
Vector3[] sphereVertices = CreateSphere(shape.GetSphereRadius(i), out sphereIndices);
// Adjust sphere position
Vector3 position = shape.GetSpherePosition(i);
for (int j = 0; j < sphereVertices.Length / 2; j++)
{
sphereVertices[j * 2] += position;
}
// Adjust indices
if (indexCount != 0)
{
int indexOffset = vertexCount / 2;
for (int j = 0; j < sphereIndices.Length; j++)
{
sphereIndices[j] += (uint)indexOffset;
}
}
allVertices.Add(sphereVertices);
allIndices.Add(sphereIndices);
vertexCount += sphereVertices.Length;
indexCount += sphereIndices.Length;
}
Vector3[] finalVertices = new Vector3[vertexCount];
int vo = 0;
foreach (Vector3[] v in allVertices)
{
v.CopyTo(finalVertices, vo);
vo += v.Length;
}
indices = new uint[indexCount];
int io = 0;
foreach (uint[] ind in allIndices)
{
ind.CopyTo(indices, io);
io += ind.Length;
}
return(finalVertices);
}
public void RenderMultiSphereShape(MultiSphereShape shape, Mesh mesh)
{
int count = shape.SphereCount;
for (int i = 0; i < count; i++)
{
mesh.DrawSubset(i);
}
}
MultiSphereShape _CreateMultiSphereShape()
{
BulletSharp.Math.Vector3[] positions = new BulletSharp.Math.Vector3[spheres.Length];
float[] radius = new float[spheres.Length];
for (int i = 0; i < spheres.Length; i++)
{
positions[i] = spheres[i].position.ToBullet();
radius[i] = spheres[i].radius;
}
MultiSphereShape mss = new MultiSphereShape(positions, radius);
mss.LocalScaling = m_localScaling.ToBullet();
return(mss);
}
public override CollisionShape GetCollisionShape()
{
if (collisionShapePtr == null)
{
BulletSharp.Math.Vector3[] positions = new BulletSharp.Math.Vector3[spheres.Length];
float[] radius = new float[spheres.Length];
for (int i = 0; i < spheres.Length; i++)
{
positions[i] = spheres[i].position.ToBullet();
radius[i] = spheres[i].radius;
}
collisionShapePtr = new MultiSphereShape(positions, radius);
}
return(collisionShapePtr);
}
/// <summary>
/// Adds the child shape.
/// </summary>
/// <param name="localTransform">The local transform.</param>
/// <param name="shape">The shape.</param>
public void AddChildShape(float4x4 localTransform, IMultiSphereShapeImp shape)
{
var btPositions = new Vector3[shape.SphereCount];
var btRadi = new float[shape.SphereCount];
for (int i = 0; i < shape.SphereCount; i++)
{
var pos = Translator.Float3ToBtVector3(shape.GetSpherePosition(i));
btPositions[i] = pos;
btRadi[i] = shape.GetSphereRadius(i);
}
var btChildShape = new MultiSphereShape(btPositions, btRadi);
var btLocalTransform = Translator.Float4X4ToBtMatrix(localTransform);
BtCompoundShape.AddChildShape(btLocalTransform, btChildShape);
}
//MultiSphereShape
public IMultiSphereShapeImp AddMultiSphereShape(float3[] positions, float[] radi)
{
var btPositions = new Vector3[positions.Length];
for (int i = 0; i < positions.Length; i++)
{
btPositions[i] = new Vector3(positions[i].x, positions[i].y, positions[i].z);
}
var btMultiSphereShape = new MultiSphereShape(btPositions, radi);
BtCollisionShapes.Add(btMultiSphereShape);
var retval = new MultiSphereShapeImp();
retval.BtMultiSphereShape = btMultiSphereShape;
btMultiSphereShape.UserObject = retval;
return(retval);
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
GImpactCollisionAlgorithm.RegisterAlgorithm(Dispatcher);
string bulletFile;
string[] args = Environment.GetCommandLineArgs();
if (args.Length == 1)
{
bulletFile = "testFile.bullet";
}
else
{
bulletFile = args[1];
}
fileLoader = new CustomBulletWorldImporter(World);
if (!fileLoader.LoadFile(bulletFile))
{
CollisionShape groundShape = new BoxShape(50);
CollisionShapes.Add(groundShape);
RigidBody ground = LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
Vector3[] positions = new Vector3[2] {
new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.4f, 0.5f, 0.6f)
};
float[] radi = new float[2] {
0.3f, 0.4f
};
CollisionShape colShape = new MultiSphereShape(positions, radi);
//CollisionShape colShape = new CapsuleShapeZ(1, 1);
//CollisionShape colShape = new CylinderShapeZ(1, 1, 1);
//CollisionShape colShape = new BoxShape(1);
//CollisionShape colShape = new SphereShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
float start_x = StartPosX - ArraySizeX / 2;
float start_y = StartPosY;
float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.Translation(
2 * i + start_x,
2 * k + start_y,
2 * j + start_z
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
DefaultSerializer serializer = new DefaultSerializer();
serializer.RegisterNameForObject(ground, "GroundName");
for (i = 0; i < CollisionShapes.Count; i++)
{
serializer.RegisterNameForObject(CollisionShapes[i], "name" + i.ToString());
}
Point2PointConstraint p2p = new Point2PointConstraint((RigidBody)World.CollisionObjectArray[2], new Vector3(0, 1, 0));
World.AddConstraint(p2p);
serializer.RegisterNameForObject(p2p, "constraintje");
World.Serialize(serializer);
BulletSharp.DataStream data = serializer.LockBuffer();
byte[] dataBytes = new byte[data.Length];
data.Read(dataBytes, 0, dataBytes.Length);
FileStream file = new FileStream("testFile.bullet", FileMode.Create);
file.Write(dataBytes, 0, dataBytes.Length);
file.Close();
}
}
/*private void MyTickCallBack(ManifoldPoint cp, CollisionObjectWrapper colobj0wrap, int partid0, int index0, CollisionObjectWrapper colobj1wrap, int partid1, int index1)
* {
* Debug.WriteLine("MyTickCallBack");
* int numManifolds = BtWorld.Dispatcher.NumManifolds;
* RigidBodyImp myRb;
* //Debug.WriteLine("numManifolds: " + numManifolds);
* for (int i = 0; i < numManifolds; i++)
* {
* PersistentManifold contactManifold = BtWorld.Dispatcher.GetManifoldByIndexInternal(i);
* int numContacts = contactManifold.NumContacts;
* if (numContacts > 0)
* {
* CollisionObject obA = (CollisionObject) contactManifold.Body0;
* CollisionObject obB = (CollisionObject) contactManifold.Body1;
*
* // Debug.WriteLine(numContacts);
* var pnA = obA.UserObject;
*
* for (int j = 0; j < numContacts; j++)
* {
* ManifoldPoint pt = contactManifold.GetContactPoint(j);
*
* }
* }
* }
* }*/
public IRigidBodyImp AddRigidBody(float mass, float3 worldTransform, float3 orientation, ICollisionShapeImp colShape /*, float3 intertia*/)
{
// Use bullet to do what needs to be done:
var btMatrix = Matrix.RotationX(orientation.x)
* Matrix.RotationY(orientation.y)
* Matrix.RotationZ(orientation.z)
* Matrix.Translation(worldTransform.x, worldTransform.y, worldTransform.z);
var btMotionState = new DefaultMotionState(btMatrix);
var shapeType = colShape.GetType().ToString();
CollisionShape btColShape;
var isStatic = false;
switch (shapeType)
{
//Primitives
case "Fusee.Engine.BoxShapeImp":
var box = (BoxShapeImp)colShape;
var btBoxHalfExtents = Translater.Float3ToBtVector3(box.HalfExtents);
btColShape = new BoxShape(btBoxHalfExtents);
break;
case "Fusee.Engine.CapsuleShapeImp":
var capsule = (CapsuleShapeImp)colShape;
btColShape = new CapsuleShape(capsule.Radius, capsule.HalfHeight);
break;
case "Fusee.Engine.ConeShapeImp":
var cone = (ConeShapeImp)colShape;
btColShape = new ConeShape(cone.Radius, cone.Height);
break;
case "Fusee.Engine.CylinderShapeImp":
var cylinider = (CylinderShapeImp)colShape;
var btCylinderHalfExtents = Translater.Float3ToBtVector3(cylinider.HalfExtents);
btColShape = new CylinderShape(btCylinderHalfExtents);
break;
case "Fusee.Engine.MultiSphereShapeImp":
var multiSphere = (MultiSphereShapeImp)colShape;
var btPositions = new Vector3[multiSphere.SphereCount];
var btRadi = new float[multiSphere.SphereCount];
for (int i = 0; i < multiSphere.SphereCount; i++)
{
var pos = Translater.Float3ToBtVector3(multiSphere.GetSpherePosition(i));
btPositions[i] = pos;
btRadi[i] = multiSphere.GetSphereRadius(i);
}
btColShape = new MultiSphereShape(btPositions, btRadi);
break;
case "Fusee.Engine.SphereShapeImp":
var sphere = (SphereShapeImp)colShape;
var btRadius = sphere.Radius;
btColShape = new SphereShape(btRadius);
break;
//Misc
case "Fusee.Engine.CompoundShapeImp":
var compShape = (CompoundShapeImp)colShape;
btColShape = new CompoundShape(true);
btColShape = compShape.BtCompoundShape;
break;
case "Fusee.Engine.EmptyShapeImp":
btColShape = new EmptyShape();
break;
//Meshes
case "Fusee.Engine.ConvexHullShapeImp":
var convHull = (ConvexHullShapeImp)colShape;
var btPoints = new Vector3[convHull.GetNumPoints()];
for (int i = 0; i < convHull.GetNumPoints(); i++)
{
var point = convHull.GetScaledPoint(i);
btPoints[i] = Translater.Float3ToBtVector3(point);
}
btColShape = new ConvexHullShape(btPoints);
//btColShape.LocalScaling = new Vector3(3,3,3);
break;
case "Fusee.Engine.StaticPlaneShapeImp":
var staticPlane = (StaticPlaneShapeImp)colShape;
Debug.WriteLine("staticplane: " + staticPlane.Margin);
var btNormal = Translater.Float3ToBtVector3(staticPlane.PlaneNormal);
btColShape = new StaticPlaneShape(btNormal, staticPlane.PlaneConstant);
isStatic = true;
//btColShape.Margin = 0.04f;
//Debug.WriteLine("btColshape" + btColShape.Margin);
break;
case "Fusee.Engine.GImpactMeshShapeImp":
var gImpMesh = (GImpactMeshShapeImp)colShape;
gImpMesh.BtGImpactMeshShape.UpdateBound();
var btGimp = new GImpactMeshShape(gImpMesh.BtGImpactMeshShape.MeshInterface);
btGimp.UpdateBound();
btColShape = btGimp;
break;
//Default
default:
Debug.WriteLine("defaultImp");
btColShape = new EmptyShape();
break;
}
var btLocalInertia = btColShape.CalculateLocalInertia(mass);
// btLocalInertia *= (10.0f*10);
RigidBodyConstructionInfo btRbcInfo = new RigidBodyConstructionInfo(mass, btMotionState, btColShape,
btLocalInertia);
var btRigidBody = new RigidBody(btRbcInfo);
btRigidBody.Restitution = 0.2f;
btRigidBody.Friction = 0.2f;
btRigidBody.CollisionFlags = CollisionFlags.CustomMaterialCallback;
BtWorld.AddRigidBody(btRigidBody);
btRbcInfo.Dispose();
var retval = new RigidBodyImp();
retval._rbi = btRigidBody;
btRigidBody.UserObject = retval;
return(retval);
}
//MultiSphere
public MultiSphereShape AddMultiSphereShape(float3[] positions, float[] radi)
{
IMultiSphereShapeImp iMultiSphereShapeImp = _dwi.AddMultiSphereShape(positions, radi);
var retval = new MultiSphereShape();
retval.MultiSphereShapeImp = iMultiSphereShapeImp;
iMultiSphereShapeImp.UserObject = retval;
return retval;
}
public SerializeDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(Dispatcher);
string bulletFile;
string[] args = Environment.GetCommandLineArgs();
if (args.Length == 1)
{
bulletFile = "testFile.bullet";
}
else
{
bulletFile = args[1];
}
_fileLoader = new CustomBulletWorldImporter(World);
if (!_fileLoader.LoadFile(bulletFile))
{
var groundShape = new BoxShape(50);
_collisionShapes.Add(groundShape);
RigidBody ground = PhysicsHelper.CreateStaticBody(Matrix.Translation(0, -50, 0), groundShape, World);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
Vector3[] positions = new[] { new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.4f, 0.5f, 0.6f) };
float[] radi = new float[2] {
0.3f, 0.4f
};
var colShape = new MultiSphereShape(positions, radi);
//var colShape = new CapsuleShapeZ(1, 1);
//var colShape = new CylinderShapeZ(1, 1, 1);
//var colShape = new BoxShape(1);
//var colShape = new SphereShape(1);
_collisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
float startX = StartPosX - NumObjectsX / 2;
float startY = StartPosY;
float startZ = StartPosZ - NumObjectsZ / 2;
for (int y = 0; y < NumObjectsY; y++)
{
for (int x = 0; x < NumObjectsX; x++)
{
for (int z = 0; z < NumObjectsZ; z++)
{
Matrix startTransform = Matrix.Translation(
2 * x + startX,
2 * y + startY,
2 * z + startZ
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
using (var serializer = new DefaultSerializer())
{
serializer.RegisterNameForObject(ground, "GroundName");
for (int i = 0; i < _collisionShapes.Count; i++)
{
serializer.RegisterNameForObject(_collisionShapes[i], "name" + i.ToString());
}
var p2p = new Point2PointConstraint((RigidBody)World.CollisionObjectArray[2],
new Vector3(0, 1, 0));
World.AddConstraint(p2p);
serializer.RegisterNameForObject(p2p, "constraintje");
World.Serialize(serializer);
byte[] dataBytes = new byte[serializer.CurrentBufferSize];
Marshal.Copy(serializer.BufferPointer, dataBytes, 0, dataBytes.Length);
using (var file = new FileStream("testFile.bullet", FileMode.Create))
{
file.Write(dataBytes, 0, dataBytes.Length);
}
}
}
}