hkpShape* vHavokShapeFactory::CreateConvexShapeFromStaticMeshInstances(const VisStaticMeshInstCollection &meshInstances, hkvMat4 &refTransform, bool shrinkByCvxRadius)
{
VVERIFY_OR_RET_VAL(meshInstances.GetLength()==1, NULL);
// Get the collision mesh for the static mesh instance
VisStaticMeshInstance_cl *pMeshInstance = meshInstances[0];
VisStaticMesh_cl *pMesh = pMeshInstance->GetMesh();
IVCollisionMesh *pColMesh = pMesh->GetCollisionMesh(true, true);
VVERIFY_OR_RET_VAL(pColMesh!=NULL, NULL);
// We transform each static mesh into the reference space.
hkvMat4 mTransform = refTransform;
mTransform = mTransform.multiply (pMeshInstance->GetTransform());
hkGeometry geom;
int iNumColMeshes = hkvMath::Max(pColMesh->GetSubmeshCount(), 1);
for (int i=0;i<iNumColMeshes;i++)
BuildGeomFromCollisionMesh(pColMesh, i, mTransform, false, geom);
// Set the build configuration to set planes equations and connectivity automatically
hkpConvexVerticesShape::BuildConfig config;
config.m_createConnectivity = true;
config.m_shrinkByConvexRadius = shrinkByCvxRadius;
hkStridedVertices stridedVerts;
stridedVerts.m_numVertices = geom.m_vertices.getSize();
stridedVerts.m_striding = sizeof(hkVector4);
stridedVerts.m_vertices = (const hkReal*)geom.m_vertices.begin();
// Create convex shape
hkvConvexVerticesShape *pConvexShape = new hkvConvexVerticesShape(pColMesh->GetFileTime(), stridedVerts, config);
return pConvexShape;
}
void vHavokStaticMesh::UpdateVision2Havok()
{
VVERIFY_OR_RET(m_staticMeshes.GetLength() >= 1 && m_pRigidBody);
int iCount = m_staticMeshes.GetLength();
for (int i=0;i<iCount;i++)
{
// since collision mesh does not provide a bounding box, use bounding box of render mesh as approximation
const hkvAlignedBBox& bbox = m_staticMeshes[i]->GetBoundingBox();
hkVector4 bbox_min; vHavokConversionUtils::VisVecToPhysVec_noscale(bbox.m_vMin, bbox_min);
hkVector4 bbox_max; vHavokConversionUtils::VisVecToPhysVec_noscale(bbox.m_vMax, bbox_max);
hkVector4 bbox_extent; bbox_extent.setSub(bbox_max,bbox_min); bbox_extent.mul(vHavokConversionUtils::GetVision2HavokScaleSIMD());
hkVector4 meshTol; meshTol.setAll(hkReal(HKVIS_MESH_SHAPE_TOLERANCE));
hkVector4Comparison::Mask largeEnough = bbox_extent.greaterEqual(meshTol).getMask<hkVector4ComparisonMask::MASK_XYZ>();
if (hkMath::countBitsSet(largeEnough) < 2)
{
Vision::Error.Warning("Attempted to create a vHavokStaticMesh with undersized extents (%.4f, %4f, %.4f)",
bbox_extent(0), bbox_extent(1), bbox_extent(2));
return;
}
}
// We use the first static mesh instance as origin reference
VisStaticMeshInstance_cl *pMeshInstance = m_staticMeshes[0];
// Get the static mesh instance position and rotation
hkMatrix4 mTransform;
vHavokConversionUtils::VisMatrixToHkMatrix(pMeshInstance->GetTransform(), mTransform, false, false, true);
// Split the rotation into scale and normal matrix
hkRotation mRotation;
mRotation.setCols(mTransform.getColumn<0>(),mTransform.getColumn<1>(),mTransform.getColumn<2>());
hkVector4 vScale;
vScale.set(mRotation.getColumn<0>().normalizeWithLength<3>(),
mRotation.getColumn<1>().normalizeWithLength<3>(),
mRotation.getColumn<2>().normalizeWithLength<3>(),
hkSimdReal_1);
bool bUpdateDebugRendering = false;
//Check here if we need to recalculate the precomputed collision mesh
//should only happen inside the editor
//if((vScale.x != m_vScale.x || vScale.y != m_vScale.y || vScale.z != m_vScale.z) && m_pRigidBody != NULL)
hkVector4 mvScale; vHavokConversionUtils::VisVecToPhysVec_noscale(m_vScale,mvScale);
if (!vScale.allEqual<3>(mvScale, hkSimdReal::fromFloat(HKVMATH_LARGE_EPSILON)) && (m_pRigidBody != NULL))
{
// Keep our object alive
VSmartPtr<vHavokStaticMesh> keepAlive = this;
RemoveHkRigidBody(); //Remove the old collision object
CreateHkRigidBody(); //Create a new one (because the scale changed)
VASSERT_MSG(m_pRigidBody != NULL, "Creating new rigid body failed");
vHavokConversionUtils::PhysVecToVisVec_noscale(vScale, m_vScale);
bUpdateDebugRendering = true;
}
// Set the transformation in Havok
hkTransform hkTfOut;
hkTfOut.setRotation(mRotation);
hkTfOut.getTranslation().setMul(mTransform.getColumn<3>(),vHavokConversionUtils::GetVision2HavokScaleSIMD());
m_pRigidBody->setTransform(hkTfOut);
if (bUpdateDebugRendering)
{
SetDebugRendering (false);
}
}
