internal static object CreateMeshShapeF(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) { ObjectArray<int> indicesarr = new ObjectArray<int>(indices); ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats); var world = pWorld as DiscreteDynamicsWorld; IndexedMesh mesh = new IndexedMesh(); mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; mesh.m_numTriangles = pIndicesCount / 3; mesh.m_numVertices = pVerticesCount; mesh.m_triangleIndexBase = indicesarr; mesh.m_vertexBase = vertices; mesh.m_vertexStride = 3; mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; mesh.m_triangleIndexStride = 3; TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, false, true); //TriangleMeshShape meshShape = new TriangleMeshShape(tribuilder); //meshShape.SetMargin(world.WorldSettings.Params.collisionMargin); float margin = 0.02f; meshShape.SetMargin(margin); return meshShape; }
public override void InitializeDemo() { SetCameraDistance(50); int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1); int vertStride = 1; int indexStride = 3; BulletGlobals.gContactAddedCallback = new CustomMaterialCombinerCallback(); gVertices = new ObjectArray<IndexedVector3>(totalVerts); gIndices = new ObjectArray<int>(totalTriangles * 3); SetVertexPositions(waveheight, 0.0f); gVertices.GetRawArray()[1].Y = 0.1f; int index=0; int i, j; for (i=0;i<NUM_VERTS_X-1;i++) { for (j=0;j<NUM_VERTS_Y-1;j++) { #if SWAP_WINDING #if SHIFT_INDICES gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; #else gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i; #endif //SHIFT_INDICES #else //SWAP_WINDING #if SHIFT_INDICES gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = j*NUM_VERTS_X+i+1; #if TEST_INCONSISTENT_WINDING gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; #else //TEST_INCONSISTENT_WINDING gIndices[index++] = (j+1)*NUM_VERTS_X+i; gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; #endif //TEST_INCONSISTENT_WINDING #else //SHIFT_INDICES gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = j*NUM_VERTS_X+i+1; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = (j+1)*NUM_VERTS_X+i; #endif //SHIFT_INDICES #endif //SWAP_WINDING } } m_indexVertexArrays = new TriangleIndexVertexArray(totalTriangles, gIndices, indexStride, totalVerts, gVertices, vertStride); bool useQuantizedAabbCompression = true; IndexedVector3 aabbMin = new IndexedVector3 (-1000,-1000,-1000); IndexedVector3 aabbMax = new IndexedVector3(1000, 1000, 1000); trimeshShape = new BvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,ref aabbMin,ref aabbMax,true); CollisionShape groundShape = trimeshShape; TriangleInfoMap triangleInfoMap = new TriangleInfoMap(); InternalEdgeUtility.GenerateInternalEdgeInfo(trimeshShape, triangleInfoMap); m_collisionConfiguration = new DefaultCollisionConfiguration(); m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); m_broadphase = new DbvtBroadphase(); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); m_dynamicsWorld.SetDebugDrawer(m_debugDraw); IndexedVector3 gravity = new IndexedVector3(0,-10,0); m_dynamicsWorld.SetGravity(ref gravity); float mass = 0.0f; IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-2,0)); ConvexHullShape colShape = new ConvexHullShape(new List<IndexedVector3>(), 0); for (int k=0;k<DemoMeshes.TaruVtxCount;k++) { IndexedVector3 vtx = DemoMeshes.TaruVtx[k]; colShape.AddPoint(ref vtx); } //this will enable polyhedral contact clipping, better quality, slightly slower //colShape.InitializePolyhedralFeatures(); //the polyhedral contact clipping can use either GJK or SAT test to find the separating axis m_dynamicsWorld.GetDispatchInfo().m_enableSatConvex=false; { //for (int i2 = 0; i2 < 1; i2++) //{ // startTransform._origin = new IndexedVector3(-10.0f + i2 * 3.0f, 2.2f + i2 * 0.1f, -1.3f); // RigidBody body = LocalCreateRigidBody(10, startTransform, colShape); // body.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // body.SetLinearVelocity(new IndexedVector3(0, 0, -1)); // //body->setContactProcessingThreshold(0.f); //} } { BoxShape colShape2 = new BoxShape(new IndexedVector3(1, 1, 1)); //colShape.InitializePolyhedralFeatures(); m_collisionShapes.Add(colShape2); startTransform._origin = new IndexedVector3(-16.0f + i * 3.0f, 1.0f + i * 0.1f, -1.3f); RigidBody body = LocalCreateRigidBody(10, startTransform, colShape2); body.SetActivationState(ActivationState.DISABLE_DEACTIVATION); body.SetLinearVelocity(new IndexedVector3(0, 0, -1)); } startTransform = IndexedMatrix.Identity; staticBody = LocalCreateRigidBody(mass, startTransform,groundShape); //staticBody->setContactProcessingThreshold(-0.031f); staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT);//STATIC_OBJECT); //enable custom material callback staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); m_debugDraw.SetDebugMode(DebugDrawModes.DBG_DrawText | DebugDrawModes.DBG_NoHelpText | DebugDrawModes.DBG_DrawWireframe | DebugDrawModes.DBG_DrawContactPoints); //base.InitializeDemo(); //ClientResetScene(); }
public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) { //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); for (int iter = 0; iter < pVerticesCount; iter++) { if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; } ObjectArray<int> indicesarr = new ObjectArray<int>(indices); ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats); DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; IndexedMesh mesh = new IndexedMesh(); mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; mesh.m_numTriangles = pIndicesCount/3; mesh.m_numVertices = pVerticesCount; mesh.m_triangleIndexBase = indicesarr; mesh.m_vertexBase = vertices; mesh.m_vertexStride = 3; mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; mesh.m_triangleIndexStride = 3; TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); meshShape.SetMargin(world.WorldSettings.Params.collisionMargin); // world.UpdateSingleAabb(meshShape); return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH); }
public override void InitializeDemo() { //string filename = @"E:\users\man\bullet\xna-concaveray-output-1.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); m_cameraDistance = 400f; m_farClip = 1500f; m_perspective = IndexedMatrix.CreatePerspectiveFieldOfView(MathHelper.ToRadians(40.0f), m_aspect, m_nearClip, m_farClip); m_animatedMesh = true; base.InitializeDemo(); int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1); gVertices = new ObjectArray<IndexedVector3>(totalVerts); int indicesTotal = totalTriangles * 3; gIndices = new ObjectArray<int>(indicesTotal); BulletGlobals.gContactAddedCallback = null; SetVertexPositions(waveheight,0f); int vertStride = 1; int indexStride = 3; int index=0; //for (int i=0;i<NUM_VERTS_X-1;i++) //{ // for (int j=0;j<NUM_VERTS_Y-1;j++) // { // gIndices[index++] = j * NUM_VERTS_X + i; // gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; // gIndices[index++] = j * NUM_VERTS_X + i + 1; // gIndices[index++] = j * NUM_VERTS_X + i; // gIndices[index++] = (j + 1) * NUM_VERTS_X + i; // gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; // } //} for (int i = 0; i < NUM_VERTS_X - 1; i++) { for (int j = 0; j < NUM_VERTS_Y - 1; j++) { gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = j * NUM_VERTS_X + i + 1; gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; gIndices[index++] = (j + 1) * NUM_VERTS_X + i; } } TriangleIndexVertexArray indexVertexArrays = new TriangleIndexVertexArray(totalTriangles, gIndices,indexStride,totalVerts,gVertices,vertStride); bool useQuantizedAabbCompression = true; float minX = NUM_VERTS_X * TRIANGLE_SIZE * 0.5f; float minZ = NUM_VERTS_Y * TRIANGLE_SIZE * 0.5f; //OptimizedBvh bvh = new OptimizedBvh(); IndexedVector3 aabbMin = new IndexedVector3(-minX,-5,-minZ); IndexedVector3 aabbMax = new IndexedVector3(minX,5,minZ); m_trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression, ref aabbMin, ref aabbMax, true); //m_trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression,true); IndexedVector3 scaling = IndexedVector3.One; CollisionShape groundShape = m_trimeshShape; //groundShape = new TriangleMeshShape(indexVertexArrays); //groundShape = new StaticPlaneShape(IndexedVector3.Up, 0f); IndexedVector3 up = new IndexedVector3(0.4f,1,0); up.Normalize(); //groundShape = new StaticPlaneShape(up, 0f); //groundShape = new BoxShape(new IndexedVector3(1000, 10, 1000)); m_collisionConfiguration = new DefaultCollisionConfiguration(); m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); IndexedVector3 worldMin = aabbMin; IndexedVector3 worldMax = aabbMax; m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); float mass = 0f; IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(2,-2,0)); startTransform = IndexedMatrix.Identity; staticBody = LocalCreateRigidBody(mass, ref startTransform,groundShape); staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT);//STATIC_OBJECT); //enable custom material callback staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); //m_raycastBar = new btRaycastBar (m_debugDraw,4000.0f, 0.0f,-1000,30); m_raycastBar = new btRaycastBar(m_debugDraw, 300.0f, 0.0f, -1000, 200,worldMin.X,worldMax.X); m_raycastBar.min_x = -100; m_raycastBar.max_x = -100; ClientResetScene(); }
//----------------------------------------------------------------------------------------------- public override void InitializeDemo() { //string filename = @"C:\users\man\bullett\xna-concave-output.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); m_animatedMesh = true; base.InitializeDemo(); int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1); gVertices = new ObjectArray<IndexedVector3>(totalVerts); int indicesTotal = totalTriangles * 3; gIndices = new ObjectArray<int>(indicesTotal); //BulletGlobals.gContactAddedCallback = new CustomMaterialCombinerCallback(); SetVertexPositions(waveheight,0f); int vertStride = 1; int indexStride = 3; int index=0; for (int i=0;i<NUM_VERTS_X-1;i++) { for (int j=0;j<NUM_VERTS_Y-1;j++) { gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = j * NUM_VERTS_X + i + 1; gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; gIndices[index++] = (j + 1) * NUM_VERTS_X + i; } } if (BulletGlobals.g_streamWriter != null) { index = 0; BulletGlobals.g_streamWriter.WriteLine("setIndexPositions"); for (int i = 0; i < gIndices.Count; i++) { BulletGlobals.g_streamWriter.WriteLine(String.Format("{0} {1}", i, gIndices[i])); } } TriangleIndexVertexArray indexVertexArrays = new TriangleIndexVertexArray(totalTriangles, gIndices,indexStride,totalVerts,gVertices,vertStride); bool useQuantizedAabbCompression = true; OptimizedBvh bvh = new OptimizedBvh(); IndexedVector3 aabbMin = new IndexedVector3(-1000,-1000,-1000); IndexedVector3 aabbMax = new IndexedVector3(1000,1000,1000); m_trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression, ref aabbMin, ref aabbMax, true); //CollisionShape trimeshShape = new TriangleMeshShape(indexVertexArrays); IndexedVector3 scaling = IndexedVector3.One; //m_trimeshShape.SetOptimizedBvh(bvh, ref scaling); //BulletWorldImporter import = new BulletWorldImporter(0);//don't store info into the world //if (import.loadFile("myShape.bullet")) //{ // int numBvh = import.getNumBvhs(); // if (numBvh != 0) // { // OptimizedBvh bvh = import.getBvhByIndex(0); // IndexedVector3 aabbMin = new IndexedVector3(-1000,-1000,-1000); // IndexedVector3 aabbMax = new IndexedVector3(1000,1000,1000); // trimeshShape = new indexVertexArrays,useQuantizedAabbCompression,ref aabbMin,ref aabbMax,false); // IndexedVector3 scaling = IndexedVector3.One; // trimeshShape.setOptimizedBvh(bvh, ref scaling); // //trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax); // //trimeshShape.setOptimizedBvh(bvh); // } // int numShape = import.getNumCollisionShapes(); // if (numShape != 0) // { // trimeshShape = (BvhTriangleMeshShape)import.getCollisionShapeByIndex(0); // //if you know the name, you can also try to get the shape by name: // String meshName = import.getNameForPointer(trimeshShape); // if (meshName != null) // { // trimeshShape = (BvhTriangleMeshShape)import.getCollisionShapeByName(meshName); // } // } //} //CollisionShape groundShape = trimeshShape;//m_trimeshShape; CollisionShape groundShape = m_trimeshShape;//m_trimeshShape; //groundShape = new TriangleShape(new IndexedVector3(0,` 0, 100), new IndexedVector3(100, 0, 0),new IndexedVector3(-100, 0, -100)); //groundShape = new StaticPlaneShape(IndexedVector3.Up, 0f); //groundShape = new BoxShape(new IndexedVector3(100f, 0.1f, 100f)); IndexedVector3 up = new IndexedVector3(0.4f,1,0); up.Normalize(); //groundShape = new StaticPlaneShape(up, 0f); //groundShape = new TriangleMeshShape(indexVertexArrays); m_collisionConfiguration = new DefaultCollisionConfiguration(); m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); IndexedVector3 worldMin = new IndexedVector3(-1000,-1000,-1000); IndexedVector3 worldMax = new IndexedVector3(1000,1000,1000); //m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false); m_broadphase = new DbvtBroadphase(); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); float mass = 0f; IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(2,-2,0)); //CompoundShape colShape = new CompoundShape(); //IndexedVector3 halfExtents = new IndexedVector3(4, 1, 1); //CollisionShape cylinderShape = new CylinderShapeX(ref halfExtents); //CollisionShape boxShape = new BoxShape(new IndexedVector3(4, 1, 1)); //IndexedMatrix localTransform = IndexedMatrix.Identity; //colShape.addChildShape(ref localTransform, boxShape); //Quaternion orn = Quaternion.CreateFromYawPitchRoll(MathUtil.SIMD_HALF_PI, 0f, 0f); //localTransform = IndexedMatrix.CreateFromQuaternion(orn); //colShape.addChildShape(ref localTransform, cylinderShape); ////BoxShape colShape = new BoxShape(new IndexedVector3(1, 1, 1)); //int numCollideObjects = 1; //m_collisionShapes.Add(colShape); //{ // for (int i = 0; i < numCollideObjects; i++) // { // startTransform._origin = new IndexedVector3(4,10+i*2,1); // localCreateRigidBody(1, ref startTransform,colShape); // } //} CollisionShape boxShape = new BoxShape(new IndexedVector3(1, 1, 1)); //CollisionShape boxShape = new SphereShape(1); //CollisionShape boxShape = new SphereShape(1); //CollisionShape boxShape = new CapsuleShapeZ(0.5f, 1); m_collisionShapes.Add(boxShape); for (int i = 0; i < 1; i++) { startTransform._origin = new IndexedVector3(2f * i, 5, 1); LocalCreateRigidBody(1, ref startTransform, boxShape); } startTransform = IndexedMatrix.Identity; staticBody = LocalCreateRigidBody(mass, ref startTransform,groundShape); staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT);//STATIC_OBJECT); //enable custom material callback staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); //clientResetScene(); }