public BoundingBox CalculateBoundingBox(MeshCollisionData data)
{
var boundingBox = new BoundingBox();
for (int i = 0; i < data.Boxes.Count; i++)
{
var box = data.Boxes[i];
var shape = new BoxShapeDescription(box.Dimensions);
shape.LocalPose = box.Orientation;
//WARNING: this is slow , really slow
Vector3[] corners = (new BoundingBox(-box.Dimensions * Vector3.One * 0.5f, box.Dimensions * Vector3.One * 0.5f)).GetCorners();
var transform = new Vector3[corners.Length];
Vector3.Transform(corners, ref box.Orientation, transform);
var bs = BoundingBox.CreateFromPoints(transform);
boundingBox = boundingBox.MergeWith(bs);
}
//TODO: convex boundingbox not implemented!
if (data.TriangleMesh != null)
{
boundingBox = boundingBox.MergeWith(calculateBBTriangleMesh(data.TriangleMesh));
}
return(boundingBox);
}
/// <summary>
/// You can put a scale (-1) operation in the global pose, it works! (not for convex meshes though!)
/// NOTE: WARNING: scaling not supported!!! (still not supported, it has been delayed for several reasons)
/// </summary>
/// <param name="data"></param>
/// <param name="scene"></param>
/// <param name="globalPose"></param>
/// <returns></returns>
private ActorDescription createActorDesc(MeshCollisionData data, StillDesign.PhysX.Scene scene, Matrix globalPose)
{
// From PhysX SDK:
//There are some performance implications of compound shapes that the user should be aware of:
//You should avoid static actors being compounds; there's a limit to the number of triangles allowed in one actor's mesh shapes and subshapes exceeding the limit will be ignored.
//TODO: is this about triangle meshes only? EDIT: i dont think so
// Pull scaling out of the transformation
Vector3 scale, translation;
Quaternion rotation;
globalPose.Decompose(out scale, out rotation, out translation);
//globalPose = Matrix.CreateFromQuaternion(rotation) * Matrix.CreateTranslation(translation);
var scaleMat = Matrix.Identity;// Matrix.CreateScale(scale);
ActorDescription actorDesc = new ActorDescription();
for (int i = 0; i < data.Boxes.Count; i++)
{
var box = data.Boxes[i];
var shape = new BoxShapeDescription(box.Dimensions);
shape.LocalPose = box.Orientation * scaleMat;
actorDesc.Shapes.Add(shape);
}
for (int i = 0; i < data.ConvexMeshes.Count; i++)
{
var convex = data.ConvexMeshes[i];
var shape = new ConvexShapeDescription();
shape.ConvexMesh = MeshPhysicsPool.CreateConvexMesh(scene, convex);
shape.Flags = ShapeFlag.Visualization;
actorDesc.Shapes.Add(shape);
}
if (data.TriangleMesh != null)
{
TriangleMesh triangleMesh;
triangleMesh = MeshPhysicsPool.CreateTriangleMesh(scene, data.TriangleMesh);
TriangleMeshShapeDescription shapeDesc = new TriangleMeshShapeDescription();
shapeDesc.TriangleMesh = triangleMesh;
shapeDesc.Flags = ShapeFlag.Visualization; // Vizualization enabled, obviously (not obviously enabled, obvious that this enables visualization)
actorDesc.Shapes.Add(shapeDesc);
}
actorDesc.GlobalPose = globalPose;
return(actorDesc);
}
public Actor CreateActorStatic(StillDesign.PhysX.Scene scene, MeshCollisionData data, Matrix globalPose)
{
ActorDescription actorDesc = createActorDesc(data, scene, globalPose);
if (actorDesc.Shapes.Count == 0)
{
return(null);
}
return(scene.CreateActor(actorDesc));
}
public Actor CreateActorDynamic(StillDesign.PhysX.Scene scene, MeshCollisionData data, Matrix globalPose)
{
ActorDescription actorDesc = createActorDesc(data, scene, globalPose);
actorDesc.BodyDescription = new BodyDescription(10f); //TODO mass
if (actorDesc.Shapes.Count == 0)
{
return(null);
}
return(scene.CreateActor(actorDesc));
}
public BoundingSphere CalculateBoundingSphere(MeshCollisionData data)
{
return(BoundingSphere.CreateFromBoundingBox(CalculateBoundingBox(data)));
}
