public void SetOptimizedBvh(OptimizedBvh bvh, ref IndexedVector3 scaling)
{
Debug.Assert(m_bvh == null);
Debug.Assert(m_ownsBvh == false);
m_bvh = bvh;
m_ownsBvh = false;
// update the scaling without rebuilding the bvh
if ((GetLocalScaling() - scaling).LengthSquared() > MathUtil.SIMD_EPSILON)
{
base.SetLocalScaling(ref scaling);
}
}
private void BuildOptimizedBvh()
{
if (m_ownsBvh)
{
m_bvh.Cleanup();
m_bvh = null;
}
///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
//void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
m_bvh = new OptimizedBvh();
//rebuild the bvh...
m_bvh.Build(m_meshInterface, m_useQuantizedAabbCompression, ref m_localAabbMin, ref m_localAabbMax);
m_ownsBvh = true;
}
private void BuildOptimizedBvh()
{
if (m_ownsBvh)
{
m_bvh.Cleanup();
m_bvh = null;
}
///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
//void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
m_bvh = new OptimizedBvh();
//rebuild the bvh...
m_bvh.Build(m_meshInterface, m_useQuantizedAabbCompression, ref m_localAabbMin, ref m_localAabbMax);
m_ownsBvh = true;
}
///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
public BvhTriangleMeshShape(StridingMeshInterface meshInterface, bool useQuantizedAabbCompression, ref IndexedVector3 bvhAabbMin, ref IndexedVector3 bvhAabbMax, bool buildBvh)
: base(meshInterface)
{
m_bvh = null;
m_ownsBvh = false;
m_useQuantizedAabbCompression = useQuantizedAabbCompression;
m_shapeType = BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE;
#if !DISABLE_BVH
if (buildBvh)
{
m_bvh = new OptimizedBvh();
m_bvh.Build(meshInterface, m_useQuantizedAabbCompression, ref bvhAabbMin, ref bvhAabbMax);
m_ownsBvh = true;
}
#endif //DISABLE_BVH
}
///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
public BvhTriangleMeshShape(StridingMeshInterface meshInterface, bool useQuantizedAabbCompression, ref IndexedVector3 bvhAabbMin, ref IndexedVector3 bvhAabbMax, bool buildBvh)
: base(meshInterface)
{
m_bvh = null;
m_ownsBvh = false;
m_useQuantizedAabbCompression = useQuantizedAabbCompression;
m_shapeType = BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE;
#if !DISABLE_BVH
if (buildBvh)
{
m_bvh = new OptimizedBvh();
m_bvh.Build(meshInterface, m_useQuantizedAabbCompression, ref bvhAabbMin, ref bvhAabbMax);
m_ownsBvh = true;
}
#endif //DISABLE_BVH
}
public void SetOptimizedBvh(OptimizedBvh bvh, ref IndexedVector3 scaling)
{
Debug.Assert(m_bvh == null);
Debug.Assert(m_ownsBvh == false);
m_bvh = bvh;
m_ownsBvh = false;
// update the scaling without rebuilding the bvh
if ((GetLocalScaling() - scaling).LengthSquared() > MathUtil.SIMD_EPSILON)
{
base.SetLocalScaling(ref scaling);
}
}
//-----------------------------------------------------------------------------------------------
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();
}
