void collisionShapeNode::computeCollisionShape(const MPlug& plug, MDataBlock& data)
{
//std::cout << collisionShapeNode::collisionMarginOffset << std::endl;
MObject thisObject(thisMObject());
MPlug plgInShape(thisObject, ia_shape);
if (isCompound(plgInShape))
{
m_collision_shape = createCompositeShape(plgInShape);
} else
{
MObject thisObject(thisMObject());
MPlug plgType(thisObject, ia_type);
int type;
plgType.getValue(type);
switch(type)
{
case 4:
//box
m_collision_shape = solver_t::create_box_shape();
break;
case 5:
//sphere
m_collision_shape = solver_t::create_sphere_shape();
break;
case 6:
//plane
m_collision_shape = solver_t::create_plane_shape();
break;
default:
{
MPlugArray plgaConnectedTo;
plgInShape.connectedTo(plgaConnectedTo, true, true);
int numSelectedShapes = plgaConnectedTo.length();
if(numSelectedShapes > 0)
{
MObject node = plgaConnectedTo[0].node();
m_collision_shape = createCollisionShape(node);
}
}
}
}
//btAssert(m_collision_shape);
data.setClean(plug);
}
collision_shape_t::pointer collisionShapeNode::createCollisionShape(const MObject& node)
{
collision_shape_t::pointer collision_shape = 0;
MObject thisObject(thisMObject());
MPlug plgType(thisObject, ia_type);
int type;
plgType.getValue(type);
switch(type) {
case 0:
{
//convex hull
{
if(node.hasFn(MFn::kMesh)) {
MDagPath dagPath;
MDagPath::getAPathTo(node, dagPath);
MFnMesh fnMesh(dagPath);
MFloatPointArray mpoints;
MFloatVectorArray mnormals;
MIntArray mtrianglecounts;
MIntArray mtrianglevertices;
fnMesh.getPoints(mpoints, MSpace::kObject);
fnMesh.getNormals(mnormals, MSpace::kObject);
fnMesh.getTriangles(mtrianglecounts, mtrianglevertices);
std::vector<vec3f> vertices(mpoints.length());
std::vector<vec3f> normals(mpoints.length());
std::vector<unsigned int> indices(mtrianglevertices.length());
btAlignedObjectArray<btVector3> btVerts; //mb
for(size_t i = 0; i < vertices.size(); ++i) {
vertices[i] = vec3f(mpoints[i].x, mpoints[i].y, mpoints[i].z);
normals[i] = vec3f(mnormals[i].x, mnormals[i].y, mnormals[i].z);
#if UPDATE_SHAPE //future collision margin adjust
btVerts.push_back(btVector3(mpoints[i].x, mpoints[i].y, mpoints[i].z)); //mb
#endif
}
for(size_t i = 0; i < indices.size(); ++i) {
indices[i] = mtrianglevertices[i];
}
#if UPDATE_SHAPE //future collision margin adjust
btAlignedObjectArray<btVector3> planeEquations;
btGeometryUtil::getPlaneEquationsFromVertices(btVerts, planeEquations);
btAlignedObjectArray<btVector3> shiftedPlaneEquations;
for (int p=0;p<planeEquations.size();p++)
{
btVector3 plane = planeEquations[p];
plane[3] += collisionShapeNode::collisionMarginOffset;
shiftedPlaneEquations.push_back(plane);
}
btAlignedObjectArray<btVector3> shiftedVertices;
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations, shiftedVertices);
std::vector<vec3f> shiftedVerticesVec3f(shiftedVertices.size());
for(size_t i = 0; i < shiftedVertices.size(); ++i)
{
shiftedVerticesVec3f[i] = vec3f(shiftedVertices[i].getX(), shiftedVertices[i].getY(), shiftedVertices[i].getZ());
//std::cout << "orig verts: " << vertices[i][0] << " " << vertices[i][1] << " " << vertices[i][2] << std::endl;
//std::cout << "shft verts: " << shiftedVertices[i].getX() << " " << shiftedVertices[i].getY() << " " << shiftedVertices[i].getZ() << std::endl;
//std::cout << std::endl;
}
collision_shape = solver_t::create_convex_hull_shape(&(shiftedVerticesVec3f[0]), shiftedVerticesVec3f.size(), &(normals[0]), &(indices[0]), indices.size());
#endif
#if UPDATE_SHAPE == 0
collision_shape = solver_t::create_convex_hull_shape(&(vertices[0]), vertices.size(), &(normals[0]), &(indices[0]), indices.size()); //original
#endif
}
}
}
break;
case 1:
{
//mesh
{
if(node.hasFn(MFn::kMesh)) {
MDagPath dagPath;
MDagPath::getAPathTo(node, dagPath);
MFnMesh fnMesh(dagPath);
MFloatPointArray mpoints;
MFloatVectorArray mnormals;
MIntArray mtrianglecounts;
MIntArray mtrianglevertices;
fnMesh.getPoints(mpoints, MSpace::kObject);
fnMesh.getNormals(mnormals, MSpace::kObject);
fnMesh.getTriangles(mtrianglecounts, mtrianglevertices);
std::vector<vec3f> vertices(mpoints.length());
std::vector<vec3f> normals(mpoints.length());
std::vector<unsigned int> indices(mtrianglevertices.length());
for(size_t i = 0; i < vertices.size(); ++i) {
vertices[i] = vec3f(mpoints[i].x, mpoints[i].y, mpoints[i].z);
normals[i] = vec3f(mnormals[i].x, mnormals[i].y, mnormals[i].z);
}
for(size_t i = 0; i < indices.size(); ++i) {
indices[i] = mtrianglevertices[i];
}
bool dynamicMesh = true;
collision_shape = solver_t::create_mesh_shape(&(vertices[0]), vertices.size(), &(normals[0]),
&(indices[0]), indices.size(),dynamicMesh);
}
}
}
break;
case 2:
//cylinder
break;
case 3:
//capsule
break;
case 7:
//btBvhTriangleMeshShape
{
if(node.hasFn(MFn::kMesh)) {
MDagPath dagPath;
MDagPath::getAPathTo(node, dagPath);
MFnMesh fnMesh(dagPath);
MFloatPointArray mpoints;
MFloatVectorArray mnormals;
MIntArray mtrianglecounts;
MIntArray mtrianglevertices;
fnMesh.getPoints(mpoints, MSpace::kObject);
fnMesh.getNormals(mnormals, MSpace::kObject);
fnMesh.getTriangles(mtrianglecounts, mtrianglevertices);
std::vector<vec3f> vertices(mpoints.length());
std::vector<vec3f> normals(mpoints.length());
std::vector<unsigned int> indices(mtrianglevertices.length());
for(size_t i = 0; i < vertices.size(); ++i) {
vertices[i] = vec3f(mpoints[i].x, mpoints[i].y, mpoints[i].z);
normals[i] = vec3f(mnormals[i].x, mnormals[i].y, mnormals[i].z);
}
for(size_t i = 0; i < indices.size(); ++i) {
indices[i] = mtrianglevertices[i];
}
bool dynamicMesh = false;
collision_shape = solver_t::create_mesh_shape(&(vertices[0]), vertices.size(), &(normals[0]),
&(indices[0]), indices.size(),dynamicMesh);
}
}
break;
case 8:
//hacd convex decomposition
{
{
if(node.hasFn(MFn::kMesh)) {
MDagPath dagPath;
MDagPath::getAPathTo(node, dagPath);
MFnMesh fnMesh(dagPath);
MFloatPointArray mpoints;
MFloatVectorArray mnormals;
MIntArray mtrianglecounts;
MIntArray mtrianglevertices;
fnMesh.getPoints(mpoints, MSpace::kObject);
fnMesh.getNormals(mnormals, MSpace::kObject);
fnMesh.getTriangles(mtrianglecounts, mtrianglevertices);
std::vector<vec3f> vertices(mpoints.length());
std::vector<vec3f> normals(mpoints.length());
std::vector<unsigned int> indices(mtrianglevertices.length());
for(size_t i = 0; i < vertices.size(); ++i) {
vertices[i] = vec3f(mpoints[i].x, mpoints[i].y, mpoints[i].z);
normals[i] = vec3f(mnormals[i].x, mnormals[i].y, mnormals[i].z);
}
for(size_t i = 0; i < indices.size(); ++i) {
indices[i] = mtrianglevertices[i];
}
bool dynamicMesh = false;
collision_shape = solver_t::create_hacd_shape(&(vertices[0]), vertices.size(), &(normals[0]),
&(indices[0]), indices.size(),dynamicMesh);
}
}
}
break;
default:
{
}
}
return collision_shape;
}
void collisionShapeNode::computeCollisionShape(const MPlug& plug, MDataBlock& data)
{
// std::cout << "collisionShapeNode::computeCollisionShape" << std::endl;
MObject thisObject(thisMObject());
MPlug plgInShape(thisObject, ia_shape);
MPlug plgType(thisObject, ia_type);
int type;
plgType.getValue(type);
switch(type) {
case 0:
{
//convex hull
MPlugArray plgaConnectedTo;
plgInShape.connectedTo(plgaConnectedTo, true, true);
if(plgaConnectedTo.length() > 0) {
MObject node = plgaConnectedTo[0].node();
if(node.hasFn(MFn::kMesh)) {
MDagPath dagPath;
MDagPath::getAPathTo(node, dagPath);
MFnMesh fnMesh(dagPath);
MFloatPointArray mpoints;
MFloatVectorArray mnormals;
MIntArray mtrianglecounts;
MIntArray mtrianglevertices;
fnMesh.getPoints(mpoints, MSpace::kObject);
fnMesh.getNormals(mnormals, MSpace::kObject);
fnMesh.getTriangles(mtrianglecounts, mtrianglevertices);
std::vector<vec3f> vertices(mpoints.length());
std::vector<vec3f> normals(mpoints.length());
std::vector<unsigned int> indices(mtrianglevertices.length());
for(size_t i = 0; i < vertices.size(); ++i) {
vertices[i] = vec3f(mpoints[i].x, mpoints[i].y, mpoints[i].z);
normals[i] = vec3f(mnormals[i].x, mnormals[i].y, mnormals[i].z);
}
for(size_t i = 0; i < indices.size(); ++i) {
indices[i] = mtrianglevertices[i];
}
m_collision_shape = solver_t::create_convex_hull_shape(&(vertices[0]), vertices.size(), &(normals[0]),
&(indices[0]), indices.size());
}
}
}
break;
case 1:
//mesh
{
//convex hull
MPlugArray plgaConnectedTo;
plgInShape.connectedTo(plgaConnectedTo, true, true);
if(plgaConnectedTo.length() > 0) {
MObject node = plgaConnectedTo[0].node();
if(node.hasFn(MFn::kMesh)) {
MDagPath dagPath;
MDagPath::getAPathTo(node, dagPath);
MFnMesh fnMesh(dagPath);
MFloatPointArray mpoints;
MFloatVectorArray mnormals;
MIntArray mtrianglecounts;
MIntArray mtrianglevertices;
fnMesh.getPoints(mpoints, MSpace::kObject);
fnMesh.getNormals(mnormals, MSpace::kObject);
fnMesh.getTriangles(mtrianglecounts, mtrianglevertices);
std::vector<vec3f> vertices(mpoints.length());
std::vector<vec3f> normals(mpoints.length());
std::vector<unsigned int> indices(mtrianglevertices.length());
for(size_t i = 0; i < vertices.size(); ++i) {
vertices[i] = vec3f(mpoints[i].x, mpoints[i].y, mpoints[i].z);
normals[i] = vec3f(mnormals[i].x, mnormals[i].y, mnormals[i].z);
}
for(size_t i = 0; i < indices.size(); ++i) {
indices[i] = mtrianglevertices[i];
}
m_collision_shape = solver_t::create_mesh_shape(&(vertices[0]), vertices.size(), &(normals[0]),
&(indices[0]), indices.size());
}
}
}
break;
case 2:
//cylinder
break;
case 3:
//capsule
break;
case 4:
//box
m_collision_shape = solver_t::create_box_shape();
break;
case 5:
//sphere
m_collision_shape = solver_t::create_sphere_shape();
break;
case 6:
//plane
m_collision_shape = solver_t::create_plane_shape();
break;
}
assert(m_collision_shape);
data.setClean(plug);
}
