public ShapesSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- Add a sphere.
Shape sphere = new SphereShape(0.5f);
Simulation.RigidBodies.Add(new RigidBody(sphere));
// ----- Add a box.
BoxShape box = new BoxShape(0.5f, 0.9f, 0.7f);
Simulation.RigidBodies.Add(new RigidBody(box));
// ----- Add a capsule.
CapsuleShape capsule = new CapsuleShape(0.4f, 1.2f);
Simulation.RigidBodies.Add(new RigidBody(capsule));
// ----- Add a cone.
ConeShape cone = new ConeShape(0.5f, 1f);
Simulation.RigidBodies.Add(new RigidBody(cone));
// ----- Add a cylinder.
CylinderShape cylinder = new CylinderShape(0.3f, 1f);
Simulation.RigidBodies.Add(new RigidBody(cylinder));
// ----- Add a convex hull of random points.
ConvexHullOfPoints convexHullOfPoints = new ConvexHullOfPoints();
for (int i = 0; i < 20; i++)
convexHullOfPoints.Points.Add(RandomHelper.Random.NextVector3F(-0.5f, 0.5f));
Simulation.RigidBodies.Add(new RigidBody(convexHullOfPoints));
// ----- Add a convex polyhedron.
// (A ConvexPolyhedron is similar to the ConvexHullOfPoints. The difference is that
// the points in a ConvexHullOfPoints can be changed at runtime. A ConvexPolyhedron
// cannot be changed at runtime, but it is faster.)
List<Vector3F> points = new List<Vector3F>();
for (int i = 0; i < 20; i++)
points.Add(RandomHelper.Random.NextVector3F(-0.7f, 0.7f));
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(points);
Simulation.RigidBodies.Add(new RigidBody(convexPolyhedron));
// ----- Add a composite shape (a table that consists of 5 boxes).
CompositeShape composite = new CompositeShape();
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(-0.75f, 0.4f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(0.75f, 0.4f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(-0.75f, 0.4f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(0.75f, 0.4f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(1.8f, 0.1f, 1.1f), new Pose(new Vector3F(0, 0.8f, 0))));
Simulation.RigidBodies.Add(new RigidBody(composite));
// ----- Add a convex hull of multiple shapes.
ConvexHullOfShapes convexHullOfShapes = new ConvexHullOfShapes();
convexHullOfShapes.Children.Add(new GeometricObject(new CylinderShape(0.2f, 0.8f), new Pose(new Vector3F(-0.4f, 0, 0))));
convexHullOfShapes.Children.Add(new GeometricObject(new CylinderShape(0.2f, 0.8f), new Pose(new Vector3F(+0.4f, 0, 0))));
Simulation.RigidBodies.Add(new RigidBody(convexHullOfShapes));
// ----- Add the Minkowski sum of two shapes.
// (The Minkowski sum is a mathematical operation that combines two shapes.
// Here a circle is combined with a sphere. The result is a wheel.)
MinkowskiSumShape minkowskiSum = new MinkowskiSumShape();
minkowskiSum.ObjectA = new GeometricObject(new SphereShape(0.2f), Pose.Identity);
minkowskiSum.ObjectB = new GeometricObject(new CircleShape(0.5f), Pose.Identity);
Simulation.RigidBodies.Add(new RigidBody(minkowskiSum));
// Create another Minkowski sum. (Here a small sphere is added to a box to create a
// box with rounded corners.)
minkowskiSum = new MinkowskiSumShape();
minkowskiSum.ObjectA = new GeometricObject(new SphereShape(0.1f), Pose.Identity);
minkowskiSum.ObjectB = new GeometricObject(new BoxShape(0.2f, 0.5f, 0.8f), Pose.Identity);
Simulation.RigidBodies.Add(new RigidBody(minkowskiSum));
// ----- Add a triangle mesh.
// A triangle mesh could be loaded from a file or built from an XNA model.
// Here we first create a composite shape and convert the shape into a triangle
// mesh. (Any Shape in DigitalRune.Geometry can be converted to a triangle mesh.)
CompositeShape dumbbell = new CompositeShape();
dumbbell.Children.Add(new GeometricObject(new SphereShape(0.4f), new Pose(new Vector3F(0.6f, 0.0f, 0.0f))));
dumbbell.Children.Add(new GeometricObject(new SphereShape(0.4f), new Pose(new Vector3F(-0.6f, 0.0f, 0.0f))));
dumbbell.Children.Add(new GeometricObject(new CylinderShape(0.1f, 0.6f), new Pose(Matrix33F.CreateRotationZ(ConstantsF.PiOver2))));
TriangleMeshShape triangleMeshShape = new TriangleMeshShape(dumbbell.GetMesh(0.01f, 2));
// Optional: We can enable "contact welding". When this flag is enabled, the triangle shape
// precomputes additional internal information for the mesh. The collision detection will
// be able to compute better contacts (e.g. better normal vectors at triangle edges).
// Pro: Collision detection can compute better contact information.
// Con: Contact welding information needs a bit of memory. And the collision detection is
// a bit slower.
triangleMeshShape.EnableContactWelding = true;
// Optional: Assign a spatial partitioning scheme to the triangle mesh. (A spatial partition
// adds an additional memory overhead, but it improves collision detection speed tremendously!)
triangleMeshShape.Partition = new AabbTree<int>()
{
// The tree is automatically built using a mixed top-down/bottom-up approach. Bottom-up
// building is slower but produces better trees. If the tree building takes too long,
// we can lower the BottomUpBuildThreshold (default is 128).
BottomUpBuildThreshold = 0,
};
Simulation.RigidBodies.Add(new RigidBody(triangleMeshShape));
// ----- Set random positions/orientations.
// (Start with the second object. The first object is the ground plane which should
// not be changed.)
for (int i = 1; i < Simulation.RigidBodies.Count; i++)
{
RigidBody body = Simulation.RigidBodies[i];
Vector3F position = RandomHelper.Random.NextVector3F(-3, 3);
position.Y = 3; // Position the objects 3m above ground.
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
body.Pose = new Pose(position, orientation);
}
}
// Creates a lot of random objects.
private void CreateRandomObjects()
{
var random = new Random();
var isFirstHeightField = true;
int currentShape = 0;
int numberOfObjects = 0;
while (true)
{
numberOfObjects++;
if (numberOfObjects > ObjectsPerType)
{
currentShape++;
numberOfObjects = 0;
}
Shape shape;
switch (currentShape)
{
case 0:
// Box
shape = new BoxShape(ObjectSize, ObjectSize * 2, ObjectSize * 3);
break;
case 1:
// Capsule
shape = new CapsuleShape(0.3f * ObjectSize, 2 * ObjectSize);
break;
case 2:
// Cone
shape = new ConeShape(1 * ObjectSize, 2 * ObjectSize);
break;
case 3:
// Cylinder
shape = new CylinderShape(0.4f * ObjectSize, 2 * ObjectSize);
break;
case 4:
// Sphere
shape = new SphereShape(ObjectSize);
break;
case 5:
// Convex hull of several points.
ConvexHullOfPoints hull = new ConvexHullOfPoints();
hull.Points.Add(new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize));
hull.Points.Add(new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize));
hull.Points.Add(new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize));
shape = hull;
break;
case 6:
// A composite shape: two boxes that form a "T" shape.
var composite = new CompositeShape();
composite.Children.Add(
new GeometricObject(
new BoxShape(ObjectSize, 3 * ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 0, 0))));
composite.Children.Add(
new GeometricObject(
new BoxShape(2 * ObjectSize, ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 2 * ObjectSize, 0))));
shape = composite;
break;
case 7:
shape = new CircleShape(ObjectSize);
break;
case 8:
{
var compBvh = new CompositeShape();
compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new BoxShape(0.8f, 0.5f, 0.5f), new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-MathHelper.ToRadians(15)))));
compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
compBvh.Partition = new AabbTree<int>();
shape = compBvh;
break;
}
case 9:
CompositeShape comp = new CompositeShape();
comp.Children.Add(new GeometricObject(new BoxShape(0.5f * ObjectSize, 1 * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0, 0.5f * ObjectSize, 0), QuaternionF.Identity)));
comp.Children.Add(new GeometricObject(new BoxShape(0.8f * ObjectSize, 0.5f * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0.3f * ObjectSize, 0.7f * ObjectSize, 0), QuaternionF.CreateRotationZ(-MathHelper.ToRadians(45)))));
comp.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 1.15f * ObjectSize, 0), QuaternionF.Identity)));
shape = comp;
break;
case 10:
shape = new ConvexHullOfPoints(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 11:
ConvexHullOfShapes shapeHull = new ConvexHullOfShapes();
shapeHull.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 2 * ObjectSize, 0), Matrix33F.Identity)));
shapeHull.Children.Add(new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize), Pose.Identity));
shape = shapeHull;
break;
case 12:
shape = Shape.Empty;
break;
case 13:
var numberOfSamplesX = 10;
var numberOfSamplesZ = 10;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
for (int x = 0; x < numberOfSamplesX; x++)
samples[z * numberOfSamplesX + x] = (float)(Math.Cos(z / 3f) * Math.Sin(x / 2f) * BoxSize / 6);
HeightField heightField = new HeightField(0, 0, 2 * BoxSize, 2 * BoxSize, samples, numberOfSamplesX, numberOfSamplesZ);
shape = heightField;
break;
//case 14:
//shape = new LineShape(new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, -0.3f).Normalized);
//break;
case 15:
shape = new LineSegmentShape(
new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, 0.3f) + 3 * ObjectSize * new Vector3F(0.1f, 0.2f, -0.3f));
break;
case 16:
shape = new MinkowskiDifferenceShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize))
};
break;
case 17:
shape = new MinkowskiSumShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize)),
};
break;
case 18:
shape = new OrthographicViewVolume(0, ObjectSize, 0, ObjectSize, ObjectSize / 2, ObjectSize * 2);
break;
case 19:
shape = new PerspectiveViewVolume(MathHelper.ToRadians(60f), 16f / 10, ObjectSize / 2, ObjectSize * 3);
break;
case 20:
shape = new PointShape(0.1f, 0.3f, 0.2f);
break;
case 21:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2);
break;
case 22:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2)
{
StopsAtFirstHit = true
};
break;
case 23:
shape = new RectangleShape(ObjectSize, ObjectSize * 2);
break;
case 24:
shape = new TransformedShape(
new GeometricObject(
new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize),
new Pose(new Vector3F(0.1f, 1, -0.2f))));
break;
case 25:
shape = new TriangleShape(
new Vector3F(ObjectSize, 0, 0), new Vector3F(0, ObjectSize, 0), new Vector3F(ObjectSize, ObjectSize, ObjectSize));
break;
//case 26:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
//case 27:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), QuaternionF.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), QuaternionF.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
case 28:
shape = new ConvexPolyhedron(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 29:
return;
default:
currentShape++;
continue;
}
// Create an object with the random shape, pose, color and velocity.
Pose randomPose = new Pose(
random.NextVector3F(-BoxSize + ObjectSize * 2, BoxSize - ObjectSize * 2),
random.NextQuaternionF());
var newObject = new MovingGeometricObject
{
Pose = randomPose,
Shape = shape,
LinearVelocity = random.NextQuaternionF().Rotate(new Vector3F(MaxLinearVelocity, 0, 0)),
AngularVelocity = random.NextQuaternionF().Rotate(Vector3F.Forward)
* RandomHelper.Random.NextFloat(0, MaxAngularVelocity),
};
if (RandomHelper.Random.NextBool())
newObject.LinearVelocity = Vector3F.Zero;
if (RandomHelper.Random.NextBool())
newObject.AngularVelocity = Vector3F.Zero;
if (shape is LineShape || shape is HeightField)
{
// Do not move lines or the height field.
newObject.LinearVelocity = Vector3F.Zero;
newObject.AngularVelocity = Vector3F.Zero;
}
// Create only 1 heightField!
if (shape is HeightField)
{
if (isFirstHeightField)
{
isFirstHeightField = true;
newObject.Pose = new Pose(new Vector3F(-BoxSize, -BoxSize, -BoxSize));
}
else
{
currentShape++;
numberOfObjects = 0;
continue;
}
}
// Add collision object to collision domain.
_domain.CollisionObjects.Add(new CollisionObject(newObject));
//co.Type = CollisionObjectType.Trigger;
//co.Name = "Object" + shape.GetType().Name + "_" + i;
}
}
//--------------------------------------------------------------
#region Creation & Cleanup
//--------------------------------------------------------------
public VehicleObject(IServiceLocator services)
{
_services = services;
Name = "Vehicle";
_inputService = _services.GetInstance<IInputService>();
_simulation = _services.GetInstance<Simulation>();
// Load models for rendering.
var contentManager = _services.GetInstance<ContentManager>();
_vehicleModelNode = contentManager.Load<ModelNode>("Car/Car").Clone();
_wheelModelNodes = new ModelNode[4];
_wheelModelNodes[0] = contentManager.Load<ModelNode>("Car/Wheel").Clone();
_wheelModelNodes[1] = _wheelModelNodes[0].Clone();
_wheelModelNodes[2] = _wheelModelNodes[0].Clone();
_wheelModelNodes[3] = _wheelModelNodes[0].Clone();
// Add wheels under the car model node.
_vehicleModelNode.Children.Add(_wheelModelNodes[0]);
_vehicleModelNode.Children.Add(_wheelModelNodes[1]);
_vehicleModelNode.Children.Add(_wheelModelNodes[2]);
_vehicleModelNode.Children.Add(_wheelModelNodes[3]);
// ----- Create the chassis of the car.
// The Vehicle needs a rigid body that represents the chassis. This can be any shape (e.g.
// a simple BoxShape). In this example we will build a convex polyhedron from the car model.
// 1. Extract the vertices from the car model.
// The car model has ~10,000 vertices. It consists of a MeshNode for the glass
// parts and a MeshNode "Car" for the chassis.
var meshNode = _vehicleModelNode.GetDescendants()
.OfType<MeshNode>()
.First(mn => mn.Name == "Car");
var mesh = MeshHelper.ToTriangleMesh(meshNode.Mesh);
// Apply the transformation of the mesh node.
mesh.Transform(meshNode.PoseWorld * Matrix44F.CreateScale(meshNode.ScaleWorld));
// 2. (Optional) Create simplified convex hull from mesh.
// We could also skip this step and directly create a convex polyhedron from the mesh using
// var chassisShape = new ConvexPolyhedron(mesh.Vertices);
// However, the convex polyhedron would still have 500-600 vertices.
// We can reduce the number of vertices by using the GeometryHelper.
// Create a convex hull for mesh with max. 64 vertices. Additional, shrink the hull by 4 cm.
var convexHull = GeometryHelper.CreateConvexHull(mesh.Vertices, 64, -0.04f);
// 3. Create convex polyhedron shape using the vertices of the convex hull.
var chassisShape = new ConvexPolyhedron(convexHull.Vertices.Select(v => v.Position));
// (Note: Building convex hulls and convex polyhedra are time-consuming. To save loading time
// we should build the shape in the XNA content pipeline. See other DigitalRune Physics
// Samples.)
// The mass properties of the car. We use a mass of 800 kg.
var mass = MassFrame.FromShapeAndMass(chassisShape, Vector3F.One, 800, 0.1f, 1);
// Trick: We artificially modify the center of mass of the rigid body. Lowering the center
// of mass makes the car more stable against rolling in tight curves.
// We could also modify mass.Inertia for other effects.
var pose = mass.Pose;
pose.Position.Y -= 0.5f; // Lower the center of mass.
pose.Position.Z = -0.5f; // The center should be below the driver.
// (Note: The car model is not exactly centered.)
mass.Pose = pose;
// Material for the chassis.
var material = new UniformMaterial
{
Restitution = 0.1f,
StaticFriction = 0.2f,
DynamicFriction = 0.2f
};
var chassis = new RigidBody(chassisShape, mass, material)
{
Pose = new Pose(new Vector3F(0, 2, 0)), // Start position
UserData = "NoDraw", // (Remove this line to render the collision model.)
};
// ----- Create the vehicle.
Vehicle = new Vehicle(_simulation, chassis);
// Add 4 wheels.
Vehicle.Wheels.Add(new Wheel { Offset = new Vector3F(-0.9f, 0.6f, -2.0f), Radius = 0.36f, SuspensionRestLength = 0.55f, MinSuspensionLength = 0.25f, Friction = 2 }); // Front left
Vehicle.Wheels.Add(new Wheel { Offset = new Vector3F(0.9f, 0.6f, -2.0f), Radius = 0.36f, SuspensionRestLength = 0.55f, MinSuspensionLength = 0.25f, Friction = 2 }); // Front right
Vehicle.Wheels.Add(new Wheel { Offset = new Vector3F(-0.9f, 0.6f, 0.98f), Radius = 0.36f, SuspensionRestLength = 0.55f, MinSuspensionLength = 0.25f, Friction = 1.8f });// Back left
Vehicle.Wheels.Add(new Wheel { Offset = new Vector3F(0.9f, 0.6f, 0.98f), Radius = 0.36f, SuspensionRestLength = 0.55f, MinSuspensionLength = 0.25f, Friction = 1.8f }); // Back right
// Vehicles are disabled per default. This way we can create the vehicle and the simulation
// objects are only added when needed.
Vehicle.Enabled = false;
}
private void CreateCompositeShape()
{
// Convert islands into CompositeShape with convex children.
_decomposition = new CompositeShape();
if (_islands == null)
return;
foreach (var island in _islands)
{
if (island.Vertices.Length <= 0)
continue;
// ReSharper disable EmptyGeneralCatchClause
try
{
// ----- Get convex hull mesh.
DcelMesh convexHullMesh;
if (island.ConvexHullBuilder == null)
{
// Create convex hull from scratch.
// Get all vertices of all island triangles.
var points = island.Triangles.SelectMany(t => t.Vertices);
// Create convex hull.
convexHullMesh = GeometryHelper.CreateConvexHull(points, VertexLimit, SkinWidth);
}
else
{
// Use existing convex hull.
convexHullMesh = island.ConvexHullBuilder.Mesh;
if (convexHullMesh.Vertices.Count > VertexLimit || SkinWidth != 0)
convexHullMesh.ModifyConvex(VertexLimit, SkinWidth);
}
// ----- Add a ConvexPolyhedron to CompositeShape.
if (convexHullMesh.Vertices.Count > 0)
{
var convexHullPoints = convexHullMesh.Vertices.Select(v => v.Position);
var convexPolyhedron = new ConvexPolyhedron(convexHullPoints);
var geometricObject = new GeometricObject(convexPolyhedron);
_decomposition.Children.Add(geometricObject);
}
}
catch
{
// Could not generate convex hull. Ignore object.
}
// ReSharper restore EmptyGeneralCatchClause
}
}
