public TriangleIndexVertexArray(ICollection <int> triangles, ICollection <Vector3> vertices)
: base(btTriangleIndexVertexArray_new())
{
_initialMesh = new IndexedMesh();
_initialMesh.Allocate(triangles.Count / 3, vertices.Count);
int[] triangleArray = triangles as int[];
if (triangleArray == null)
{
triangleArray = new int[triangles.Count];
triangles.CopyTo(triangleArray, 0);
}
Marshal.Copy(triangleArray, 0, _initialMesh.TriangleIndexBase, triangles.Count);
float[] vertexArray = new float[vertices.Count * 3];
int i = 0;
foreach (Vector3 v in vertices)
{
vertexArray[i] = v.X;
vertexArray[i + 1] = v.Y;
vertexArray[i + 2] = v.Z;
i += 3;
}
Marshal.Copy(vertexArray, 0, _initialMesh.VertexBase, vertices.Count);
AddIndexedMesh(_initialMesh);
}
public TriangleIndexVertexArray(int[] triangles, float[] vertices)
: base(btTriangleIndexVertexArray_new())
{
_initialMesh = new IndexedMesh();
_initialMesh.Allocate(triangles.Length / 3, vertices.Length / 3);
Marshal.Copy(triangles, 0, _initialMesh.TriangleIndexBase, triangles.Length);
Marshal.Copy(vertices, 0, _initialMesh.VertexBase, vertices.Length);
AddIndexedMesh(_initialMesh);
}
public TriangleIndexVertexArray(ICollection <int> triangles, ICollection <float> vertices)
: base(btTriangleIndexVertexArray_new())
{
_initialMesh = new IndexedMesh();
_initialMesh.Allocate(triangles.Count / 3, vertices.Count / 3);
int[] triangleArray = new int[triangles.Count];
triangles.CopyTo(triangleArray, 0);
Marshal.Copy(triangleArray, 0, _initialMesh.TriangleIndexBase, triangles.Count);
float[] vertexArray = new float[vertices.Count];
vertices.CopyTo(vertexArray, 0);
Marshal.Copy(vertexArray, 0, _initialMesh.VertexBase, vertices.Count);
AddIndexedMesh(_initialMesh);
}
public TriangleIndexVertexArray(ICollection<int> triangles, ICollection<Vector3> vertices)
: base(btTriangleIndexVertexArray_new())
{
_initialMesh = new IndexedMesh();
_initialMesh.Allocate(triangles.Count / 3, vertices.Count);
int[] triangleArray = triangles as int[];
if (triangleArray == null)
{
triangleArray = new int[triangles.Count];
triangles.CopyTo(triangleArray, 0);
}
Marshal.Copy(triangleArray, 0, _initialMesh.TriangleIndexBase, triangles.Count);
float[] vertexArray = new float[vertices.Count * 3];
int i = 0;
foreach (Vector3 v in vertices)
{
vertexArray[i] = v.X;
vertexArray[i + 1] = v.Y;
vertexArray[i + 2] = v.Z;
i += 3;
}
Marshal.Copy(vertexArray, 0, _initialMesh.VertexBase, vertices.Count);
AddIndexedMesh(_initialMesh);
}
public TriangleIndexVertexArray(ICollection<int> triangles, ICollection<float> vertices)
: base(btTriangleIndexVertexArray_new())
{
_initialMesh = new IndexedMesh();
_initialMesh.Allocate(triangles.Count / 3, vertices.Count / 3);
int[] triangleArray = triangles as int[];
if (triangleArray == null)
{
triangleArray = new int[triangles.Count];
triangles.CopyTo(triangleArray, 0);
}
Marshal.Copy(triangleArray, 0, _initialMesh.TriangleIndexBase, triangles.Count);
float[] vertexArray = vertices as float[];
if (vertexArray == null)
{
vertexArray = new float[vertices.Count];
vertices.CopyTo(vertexArray, 0);
}
Marshal.Copy(vertexArray, 0, _initialMesh.VertexBase, vertices.Count);
AddIndexedMesh(_initialMesh);
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Vector3 worldMin = new Vector3(-1000, -1000, -1000);
Vector3 worldMax = new Vector3(1000, 1000, 1000);
Broadphase = new AxisSweep3(worldMin, worldMax);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SplitImpulse = 1;
World.Gravity = new Vector3(0, -10, 0);
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
indexVertexArrays = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.Allocate(totalTriangles, totalVerts, 3 * sizeof(int), Vector3.SizeInBytes, PhyScalarType.Int32, PhyScalarType.Single);
DataStream indices = mesh.LockIndices();
for (int i = 0; i < NumVertsX - 1; i++)
{
for (int j = 0; j < NumVertsY - 1; j++)
{
indices.Write(j * NumVertsX + i);
indices.Write(j * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write(j * NumVertsX + i);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i);
}
}
indices.Dispose();
indexVertexArrays.AddIndexedMesh(mesh);
convexcastBatch = new ConvexcastBatch(40.0f, 0.0f, -10.0f, 80.0f);
//convexcastBatch = new ConvexcastBatch(true, 40.0f, -50.0f, 50.0f);
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
for (int j = 0; j < NumDynamicBoxesX; j++)
{
for (int i = 0; i < NumDynamicBoxesY; i++)
{
//CollisionShape colShape = new CapsuleShape(0.5f,2.0f);//boxShape = new SphereShape(1.0f);
Matrix startTransform = Matrix.Translation(5 * (i - NumDynamicBoxesX / 2), 10, 5 * (j - NumDynamicBoxesY / 2));
LocalCreateRigidBody(1.0f, startTransform, colShape);
}
}
SetVertexPositions(WaveHeight, 0.0f);
const bool useQuantizedAabbCompression = true;
groundShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
CollisionShapes.Add(groundShape);
staticBody = LocalCreateRigidBody(0.0f, Matrix.Identity, groundShape);
staticBody.CollisionFlags |= CollisionFlags.StaticObject;
staticBody.UserObject = "Ground";
}
protected override void OnInitializePhysics()
{
CollisionShape groundShape = new BoxShape(50, 3, 50);
CollisionShapes.Add(groundShape);
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Solver = new SequentialImpulseConstraintSolver();
Vector3 worldMin = new Vector3(-10000, -10000, -10000);
Vector3 worldMax = new Vector3(10000, 10000, 10000);
Broadphase = new AxisSweep3(worldMin, worldMax);
//Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
int i;
Matrix tr;
Matrix vehicleTr;
//if (UseTrimeshGround)
{
const float scale = 20.0f;
//create a triangle-mesh ground
const int NumVertsX = 20;
const int NumVertsY = 20;
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
TriangleIndexVertexArray vertexArray = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.Allocate(totalTriangles, totalVerts);
mesh.NumTriangles = totalTriangles;
mesh.NumVertices = totalVerts;
mesh.TriangleIndexStride = 3 * sizeof(int);
mesh.VertexStride = Vector3.SizeInBytes;
using (var indicesStream = mesh.GetTriangleStream())
{
var indices = new BinaryWriter(indicesStream);
for (i = 0; i < NumVertsX - 1; i++)
{
for (int j = 0; j < NumVertsY - 1; j++)
{
indices.Write(j * NumVertsX + i);
indices.Write(j * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write(j * NumVertsX + i);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i);
}
}
indices.Dispose();
}
using (var vertexStream = mesh.GetVertexStream())
{
var vertices = new BinaryWriter(vertexStream);
for (i = 0; i < NumVertsX; i++)
{
for (int j = 0; j < NumVertsY; j++)
{
float wl = .2f;
float height = 20.0f * (float)(Math.Sin(i * wl) * Math.Cos(j * wl));
vertices.Write((i - NumVertsX * 0.5f) * scale);
vertices.Write(height);
vertices.Write((j - NumVertsY * 0.5f) * scale);
}
}
vertices.Dispose();
}
vertexArray.AddIndexedMesh(mesh);
groundShape = new BvhTriangleMeshShape(vertexArray, true);
tr = Matrix.Identity;
vehicleTr = Matrix.Translation(0, -2, 0);
}/*
else
{
// Use HeightfieldTerrainShape
int width = 40, length = 40;
//int width = 128, length = 128; // Debugging is too slow for this
float maxHeight = 10.0f;
float heightScale = maxHeight / 256.0f;
Vector3 scale = new Vector3(20.0f, maxHeight, 20.0f);
//PhyScalarType scalarType = PhyScalarType.PhyUChar;
//FileStream file = new FileStream(heightfieldFile, FileMode.Open, FileAccess.Read);
// Use float data
PhyScalarType scalarType = PhyScalarType.PhyFloat;
byte[] terr = new byte[width * length * 4];
MemoryStream file = new MemoryStream(terr);
BinaryWriter writer = new BinaryWriter(file);
for (i = 0; i < width; i++)
for (int j = 0; j < length; j++)
writer.Write((float)((maxHeight / 2) + 4 * Math.Sin(j * 0.5f) * Math.Cos(i)));
writer.Flush();
file.Position = 0;
HeightfieldTerrainShape heightterrainShape = new HeightfieldTerrainShape(width, length,
file, heightScale, 0, maxHeight, upIndex, scalarType, false);
heightterrainShape.SetUseDiamondSubdivision(true);
groundShape = heightterrainShape;
groundShape.LocalScaling = new Vector3(scale.X, 1, scale.Z);
tr = Matrix.Translation(new Vector3(-scale.X / 2, scale.Y / 2, -scale.Z / 2));
vehicleTr = Matrix.Translation(new Vector3(20, 3, -3));
// Create graphics object
file.Position = 0;
BinaryReader reader = new BinaryReader(file);
int totalTriangles = (width - 1) * (length - 1) * 2;
int totalVerts = width * length;
game.groundMesh = new Mesh(game.Device, totalTriangles, totalVerts,
MeshFlags.SystemMemory | MeshFlags.Use32Bit, VertexFormat.Position | VertexFormat.Normal);
SlimDX.DataStream data = game.groundMesh.LockVertexBuffer(LockFlags.None);
for (i = 0; i < width; i++)
{
for (int j = 0; j < length; j++)
{
float height;
if (scalarType == PhyScalarType.PhyFloat)
{
// heightScale isn't applied internally for float data
height = reader.ReadSingle();
}
else if (scalarType == PhyScalarType.PhyUChar)
{
height = file.ReadByte() * heightScale;
}
else
{
height = 0.0f;
}
data.Write((j - length * 0.5f) * scale.X);
data.Write(height);
data.Write((i - width * 0.5f) * scale.Z);
// Normals will be calculated later
data.Position += 12;
}
}
game.groundMesh.UnlockVertexBuffer();
file.Close();
data = game.groundMesh.LockIndexBuffer(LockFlags.None);
for (i = 0; i < width - 1; i++)
{
for (int j = 0; j < length - 1; j++)
{
// Using diamond subdivision
if ((j + i) % 2 == 0)
{
data.Write(j * width + i);
data.Write((j + 1) * width + i + 1);
data.Write(j * width + i + 1);
data.Write(j * width + i);
data.Write((j + 1) * width + i);
data.Write((j + 1) * width + i + 1);
}
else
{
data.Write(j * width + i);
data.Write((j + 1) * width + i);
data.Write(j * width + i + 1);
data.Write(j * width + i + 1);
data.Write((j + 1) * width + i);
data.Write((j + 1) * width + i + 1);
}
/ *
// Not using diamond subdivision
data.Write(j * width + i);
data.Write((j + 1) * width + i);
data.Write(j * width + i + 1);
data.Write(j * width + i + 1);
data.Write((j + 1) * width + i);
data.Write((j + 1) * width + i + 1);
* /
}
}
game.groundMesh.UnlockIndexBuffer();
game.groundMesh.ComputeNormals();
}*/
CollisionShapes.Add(groundShape);
//create ground object
RigidBody ground = LocalCreateRigidBody(0, tr, groundShape);
ground.UserObject = "Ground";
CollisionShape chassisShape = new BoxShape(1.0f, 0.5f, 2.0f);
CollisionShapes.Add(chassisShape);
CompoundShape compound = new CompoundShape();
CollisionShapes.Add(compound);
//localTrans effectively shifts the center of mass with respect to the chassis
Matrix localTrans = Matrix.Translation(Vector3.UnitY);
compound.AddChildShape(localTrans, chassisShape);
RigidBody carChassis = LocalCreateRigidBody(800, Matrix.Identity, compound);
carChassis.UserObject = "Chassis";
//carChassis.SetDamping(0.2f, 0.2f);
//CylinderShapeX wheelShape = new CylinderShapeX(wheelWidth, wheelRadius, wheelRadius);
// clientResetScene();
// create vehicle
VehicleTuning tuning = new VehicleTuning();
IVehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(World);
//vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
vehicle = new CustomVehicle(tuning, carChassis, vehicleRayCaster);
carChassis.ActivationState = ActivationState.DisableDeactivation;
World.AddAction(vehicle);
const float connectionHeight = 1.2f;
bool isFrontWheel = true;
// choose coordinate system
vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
BulletSharp.Math.Vector3 connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
isFrontWheel = false;
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
for (i = 0; i < vehicle.NumWheels; i++)
{
WheelInfo wheel = vehicle.GetWheelInfo(i);
wheel.SuspensionStiffness = suspensionStiffness;
wheel.WheelsDampingRelaxation = suspensionDamping;
wheel.WheelsDampingCompression = suspensionCompression;
wheel.FrictionSlip = wheelFriction;
wheel.RollInfluence = rollInfluence;
}
vehicle.RigidBody.WorldTransform = vehicleTr;
}
public TriangleIndexVertexArray CreateMeshInterface(byte[] meshData, int offset, Dictionary<long, byte[]> libPointers)
{
TriangleIndexVertexArray meshInterface = CreateTriangleMeshContainer();
byte[] meshParts;
Vector3 scaling;
int numMeshParts;
using (MemoryStream shapeStream = new MemoryStream(meshData, false))
{
using (BulletReader shapeReader = new BulletReader(shapeStream))
{
shapeStream.Position += offset;
long meshPartsPtr = shapeReader.ReadPtr();
meshParts = libPointers[meshPartsPtr];
scaling = shapeReader.ReadVector3();
numMeshParts = shapeReader.ReadInt32();
}
}
using (MemoryStream meshStream = new MemoryStream(meshParts, false))
{
using (BulletReader meshReader = new BulletReader(meshStream))
{
for (int i = 0; i < numMeshParts; i++)
{
int meshOffset = i * Marshal.SizeOf(typeof(MeshPartData));
IndexedMesh meshPart = new IndexedMesh();
long vertices3f = meshReader.ReadPtr(meshOffset + MeshPartData.Offset("Vertices3F"));
long vertices3d = meshReader.ReadPtr(meshOffset + MeshPartData.Offset("Vertices3D"));
long indices32 = meshReader.ReadPtr(meshOffset + MeshPartData.Offset("Indices32"));
meshPart.NumTriangles = meshReader.ReadInt32(meshOffset + MeshPartData.Offset("NumTriangles"));
meshPart.NumVertices = meshReader.ReadInt32(meshOffset + MeshPartData.Offset("NumVertices"));
meshPart.Allocate(meshPart.NumTriangles, meshPart.NumVertices, sizeof(int) * 3, sizeof(float) * 4);
if (indices32 != 0)
{
using (Stream triangleStream = meshPart.GetTriangleStream())
{
byte[] indices = libPointers[indices32];
triangleStream.Write(indices, 0, indices.Length);
}
}
else
{
throw new NotImplementedException();
long indices16 = meshReader.ReadPtr(meshOffset + MeshPartData.Offset("Indices16"));
}
if (vertices3f != 0)
{
using (Stream vertexStream = meshPart.GetVertexStream())
{
byte[] vertices = libPointers[vertices3f];
vertexStream.Write(vertices, 0, vertices.Length);
}
}
else
{
throw new NotImplementedException();
}
if (meshPart.TriangleIndexBase != IntPtr.Zero && meshPart.VertexBase != IntPtr.Zero)
{
meshInterface.AddIndexedMesh(meshPart, meshPart.IndexType);
}
//meshPart.Dispose();
}
}
}
return meshInterface;
}
public TriangleIndexVertexArray(int[] triangles, float[] vertices)
: base(btTriangleIndexVertexArray_new())
{
_initialMesh = new IndexedMesh();
_initialMesh.Allocate(triangles.Length / 3, vertices.Length / 3);
Marshal.Copy(triangles, 0, _initialMesh.TriangleIndexBase, triangles.Length);
Marshal.Copy(vertices, 0, _initialMesh.VertexBase, vertices.Length);
AddIndexedMesh(_initialMesh);
}
protected override void OnInitialize()
{
Freelook.SetEyeTarget(eye, target);
Graphics.SetFormText("BulletSharp - Concave Convexcast Demo");
Graphics.SetInfoText("Move using mouse and WASD+shift\n" +
"F3 - Toggle debug\n" +
//"F11 - Toggle fullscreen\n" +
"Space - Shoot box");
DebugDrawMode = debugMode;
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
indexVertexArrays = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.Allocate(totalVerts, Vector3.SizeInBytes, totalTriangles, 3 * sizeof(int));
DataStream indices = mesh.LockIndices();
for (int i = 0; i < NumVertsX - 1; i++)
{
for (int j = 0; j < NumVertsY - 1; j++)
{
indices.Write(j * NumVertsX + i);
indices.Write(j * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write(j * NumVertsX + i);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i);
}
}
indices.Dispose();
indexVertexArrays.AddIndexedMesh(mesh);
convexcastBatch = new ConvexcastBatch(40.0f, 0.0f, -10.0f, 80.0f);
//convexcastBatch = new ConvexcastBatch(true, 40.0f, -50.0f, 50.0f);
}
