void dgCollisionUserMesh::GetCollisionInfo(dgCollisionInfo* info) const
{
dgCollision::GetCollisionInfo(info);
info->m_offsetMatrix = GetOffsetMatrix();
if (m_getInfo) {
m_getInfo (m_userData, info);
}
}
void dgCollisionCone::GetCollisionInfo(dgCollisionInfo* info) const
{
dgCollisionConvex::GetCollisionInfo(info);
info->m_cone.m_r = m_radius;
info->m_cone.m_height = m_height * dgFloat32 (2.0f);
info->m_offsetMatrix = GetOffsetMatrix();
// strcpy (info->m_collisionType, "cone");
info->m_collisionType = m_collsionId;
}
void dgCollisionChamferCylinder::GetCollisionInfo(dgCollisionInfo* info) const
{
dgCollisionConvex::GetCollisionInfo(info);
info->m_chamferCylinder.m_r = m_radius + m_height;
info->m_chamferCylinder.m_height = m_height * dgFloat32 (2.0f);
info->m_offsetMatrix = GetOffsetMatrix();
// strcpy (info->m_collisionType, "chamferCylinder");
info->m_collisionType = m_collsionId;
}
dgFloat32 dgCollisionCone::CalculateMassProperties (dgVector& inertia, dgVector& crossInertia, dgVector& centerOfMass) const
{
dgFloat32 volume;
dgFloat32 inertaxx;
dgFloat32 inertayyzz;
//dgVector centerOfMass1;
//dgVector inertia1;
//dgVector crossInertia1;
//volume = dgCollisionConvex::CalculateMassProperties (inertia1, crossInertia1, centerOfMass1);
volume = dgFloat32 (3.1616f * 2.0f / 3.0f) * m_radius * m_radius * m_height;
centerOfMass = GetOffsetMatrix().m_posit - GetOffsetMatrix().m_front.Scale (dgFloat32 (0.5f) * m_height);
inertaxx = dgFloat32 (3.0f / 10.0f) * m_radius * m_radius * volume;
inertayyzz = (dgFloat32 (3.0f / 20.0f) * m_radius * m_radius + dgFloat32 (4.0f / 10.0f) * m_height * m_height) * volume;
dgMatrix inertiaTensor (dgGetIdentityMatrix());
inertiaTensor[0][0] = inertaxx;
inertiaTensor[1][1] = inertayyzz;
inertiaTensor[2][2] = inertayyzz;
inertiaTensor = GetOffsetMatrix().Inverse() * inertiaTensor * GetOffsetMatrix();
crossInertia.m_x = inertiaTensor[1][2] - volume * centerOfMass.m_y * centerOfMass.m_z;
crossInertia.m_y = inertiaTensor[0][2] - volume * centerOfMass.m_z * centerOfMass.m_x;
crossInertia.m_z = inertiaTensor[0][1] - volume * centerOfMass.m_x * centerOfMass.m_y;
dgVector central (centerOfMass.CompProduct(centerOfMass));
inertia.m_x = inertiaTensor[0][0] + volume * (central.m_y + central.m_z);
inertia.m_y = inertiaTensor[1][1] + volume * (central.m_z + central.m_x);
inertia.m_z = inertiaTensor[2][2] + volume * (central.m_x + central.m_y);
centerOfMass = centerOfMass.Scale (volume);
return volume;
}
void dgCollisionConvexHull::GetCollisionInfo(dgCollisionInfo* info) const
{
dgCollisionConvex::GetCollisionInfo(info);
info->m_offsetMatrix = GetOffsetMatrix();
// strcpy (info->m_collisionType, "convexHull");
info->m_collisionType = m_collsionId;
info->m_convexHull.m_vertexCount = m_vertexCount;
info->m_convexHull.m_strideInBytes = sizeof (dgVector);
info->m_convexHull.m_faceCount = m_faceCount;
info->m_convexHull.m_vertex = &m_vertex[0];
}
void dgCollisionCone::DebugCollision (const dgMatrix& matrixPtr, OnDebugCollisionMeshCallback callback, void* const userData) const
{
dgInt32 i;
dgInt32 j;
dgFloat32 y;
dgFloat32 z;
dgFloat32 angle;
#define NUMBER_OF_DEBUG_SEGMENTS 24
dgTriplex pool[NUMBER_OF_DEBUG_SEGMENTS + 1];
dgTriplex face[NUMBER_OF_DEBUG_SEGMENTS];
angle = dgFloat32 (0.0f);
for (i = 0; i < NUMBER_OF_DEBUG_SEGMENTS; i ++) {
z = dgSin (angle) * m_radius;
y = dgCos (angle) * m_radius;
pool[i].m_x = - m_height;
pool[i].m_y = y;
pool[i].m_z = z;
angle += dgPI2 / dgFloat32 (NUMBER_OF_DEBUG_SEGMENTS);
}
pool[i].m_x = m_height;
pool[i].m_y = dgFloat32 (0.0f);
pool[i].m_z = dgFloat32 (0.0f);
// const dgMatrix &matrix = myBody.GetCollisionMatrix();
dgMatrix matrix (GetOffsetMatrix() * matrixPtr);
matrix.TransformTriplex (pool, sizeof (dgTriplex), pool, sizeof (dgTriplex), NUMBER_OF_DEBUG_SEGMENTS + 1);
j = NUMBER_OF_DEBUG_SEGMENTS - 1;
for (i = 0; i < NUMBER_OF_DEBUG_SEGMENTS; i ++) {
face[0] = pool[j];
face[1] = pool[i];
face[2] = pool[NUMBER_OF_DEBUG_SEGMENTS];
j = i;
callback (userData, 3, &face[0].m_x, 0);
}
for (i = 0; i < NUMBER_OF_DEBUG_SEGMENTS; i ++) {
face[i] = pool[NUMBER_OF_DEBUG_SEGMENTS - 1 - i];
}
callback (userData, NUMBER_OF_DEBUG_SEGMENTS, &face[0].m_x, 0);
}
void dgCollisionBVH::GetCollisionInfo(dgCollisionInfo* info) const
{
dgCollision::GetCollisionInfo(info);
info->m_offsetMatrix = GetOffsetMatrix();
info->m_collisionType = m_collsionId;
dgGetVertexListIndexList data;
data.m_indexList = NULL;
data.m_userDataList = NULL;
data.m_maxIndexCount = 1000000000;
data.m_triangleCount = 0;
dgVector p0 (-1.0e10f, -1.0e10f, -1.0e10f, 1.0f);
dgVector p1 ( 1.0e10f, 1.0e10f, 1.0e10f, 1.0f);
ForAllSectors (p0, p1, GetTriangleCount, &data);
info->m_bvhCollision.m_vertexCount = GetVertexCount();
info->m_bvhCollision.m_indexCount = data.m_triangleCount * 3;
}
void dgCollisionConvexHull::DebugCollision (const dgMatrix& matrixPtr, OnDebugCollisionMeshCallback callback, void* const userData) const
{
dgInt32 i;
dgInt32 count;
dgConvexSimplexEdge *ptr;
dgConvexSimplexEdge *face;
dgStack<dgTriplex> tmp (m_vertexCount);
dgMatrix matrix (GetOffsetMatrix() * matrixPtr);
matrix.TransformTriplex (&tmp[0].m_x, sizeof (dgTriplex), &m_vertex[0].m_x, sizeof (dgVector), m_vertexCount);
for (i = 0; i < m_faceCount; i ++) {
face = m_faceArray[i];
ptr = face;
count = 0;
dgTriplex vertex[256];
do {
vertex[count] = tmp[ptr->m_vertex];
count ++;
ptr = ptr->m_next;
} while (ptr != face);
callback (userData, count, &vertex[0].m_x, 0);
}
}
void dgCollisionChamferCylinder::DebugCollision (const dgMatrix& matrixPtr, OnDebugCollisionMeshCallback callback, void* const userData) const
{
dgInt32 i;
dgInt32 j;
dgInt32 index;
dgInt32 index0;
dgInt32 brakes;
dgInt32 slices;
dgFloat32 sliceStep;
dgFloat32 sliceAngle;
dgFloat32 breakStep;
dgFloat32 breakAngle;
slices = 12;
brakes = 24;
sliceAngle = dgFloat32 (0.0f);
breakAngle = dgFloat32 (0.0f);
sliceStep = dgPI / slices;
breakStep = dgPI2 / brakes;
dgTriplex pool[24 * (12 + 1)];
dgMatrix rot (dgPitchMatrix (breakStep));
index = 0;
for (j = 0; j <= slices; j ++) {
dgVector p0 (-m_height * dgCos(sliceAngle), dgFloat32 (0.0f), m_radius + m_height * dgSin(sliceAngle), dgFloat32 (0.0f));
sliceAngle += sliceStep;
for (i = 0; i < brakes; i ++) {
pool[index].m_x = p0.m_x;
pool[index].m_y = p0.m_y;
pool[index].m_z = p0.m_z;
index ++;
p0 = rot.UnrotateVector (p0);
}
}
// const dgMatrix &matrix = myBody.GetCollisionMatrix();
dgMatrix matrix (GetOffsetMatrix() * matrixPtr);
matrix.TransformTriplex (&pool[0].m_x, sizeof (dgTriplex), &pool[0].m_x, sizeof (dgTriplex), 24 * (12 + 1));
dgTriplex face[32];
index = 0;
for (j = 0; j < slices; j ++) {
index0 = index + brakes - 1;
for (i = 0; i < brakes; i ++) {
face[0] = pool[index];
face[1] = pool[index0];
face[2] = pool[index0 + brakes];
face[3] = pool[index + brakes];
index0 = index;
index ++;
callback (userData, 4, &face[0].m_x, 0);
}
}
for (i = 0; i < brakes; i ++) {
face[i] = pool[i];
}
callback (userData, 24, &face[0].m_x, 0);
for (i = 0; i < brakes; i ++) {
face[i] = pool[brakes * (slices + 1) - i - 1];
}
callback (userData, 24, &face[0].m_x, 0);
}
void ModelDefinition::Serialize(Serializer &serializer) const
{
BasicSerializer intermediarySerializer;
/////////////////////////////////////
// Bones
intermediarySerializer.Write(static_cast<uint32_t>(m_bones.count));
// Local information.
for (size_t iBone = 0; iBone < m_bones.count; ++iBone)
{
auto bone = m_bones[iBone];
assert(bone != nullptr);
{
// Name.
intermediarySerializer.WriteString(bone->GetName());
// Relative transformation.
intermediarySerializer.Write(bone->GetPosition());
intermediarySerializer.Write(bone->GetRotation());
intermediarySerializer.Write(bone->GetScale());
// 4x4 offset matrix.
intermediarySerializer.Write(bone->GetOffsetMatrix());
}
}
// Parents. -1 for bones without parents.
for (size_t iBone = 0; iBone < m_bones.count; ++iBone)
{
auto bone = m_bones[iBone];
assert(bone != nullptr);
{
auto parentBone = bone->GetParent();
if (parentBone != nullptr)
{
size_t parentBoneIndex;
if (!this->FindBoneIndex(parentBone, parentBoneIndex))
{
assert(false);
}
intermediarySerializer.Write(static_cast<uint32_t>(parentBoneIndex));
}
else
{
intermediarySerializer.Write(static_cast<uint32_t>(-1));
}
}
}
Serialization::ChunkHeader header;
header.id = Serialization::ChunkID_Model_Bones;
header.version = 1;
header.sizeInBytes = intermediarySerializer.GetBufferSizeInBytes();
serializer.Write(header);
serializer.Write(intermediarySerializer.GetBuffer(), header.sizeInBytes);
/////////////////////////////////////
// Meshes
//
// Vertex data is always saved in P3T2N3T3B3 format. Bones are referenced using an integer to index into the list of bones defined above.
intermediarySerializer.Clear();
intermediarySerializer.Write(static_cast<uint32_t>(this->meshes.count));
for (size_t iMesh = 0; iMesh < this->meshes.count; ++iMesh)
{
// Name.
intermediarySerializer.WriteString(this->meshes[iMesh].name);
// Material.
intermediarySerializer.WriteString(this->meshes[iMesh].material->GetDefinition().relativePath);
// Vertices.
auto vertexArray = this->meshes[iMesh].geometry;
assert(vertexArray != nullptr);
{
// Vertex Format.
vertexArray->GetFormat().Serialize(intermediarySerializer);
// Vertices.
intermediarySerializer.Write(static_cast<uint32_t>(vertexArray->GetVertexCount()));
if (vertexArray->GetVertexCount() > 0)
{
intermediarySerializer.Write(vertexArray->GetVertexDataPtr(), vertexArray->GetFormat().GetSizeInBytes() * vertexArray->GetVertexCount());
}
// Indices.
intermediarySerializer.Write(static_cast<uint32_t>(vertexArray->GetIndexCount()));
if (vertexArray->GetIndexCount() > 0)
{
intermediarySerializer.Write(vertexArray->GetIndexDataPtr(), sizeof(uint32_t) * vertexArray->GetIndexCount());
}
// Skinning Vertex Attributes.
if (this->meshes[iMesh].skinningVertexAttributes != nullptr)
{
intermediarySerializer.Write(static_cast<uint32_t>(vertexArray->GetVertexCount()));
if (vertexArray->GetVertexCount() > 0)
{
uint32_t totalBoneWeights = 0;
// Bone Counts.
for (size_t iVertex = 0; iVertex < vertexArray->GetVertexCount(); ++iVertex)
{
uint16_t count = static_cast<uint16_t>(this->meshes[iMesh].skinningVertexAttributes[iVertex].bones.count);
intermediarySerializer.Write(count);
totalBoneWeights += count;
}
// Bone/Weight Pairs.
intermediarySerializer.Write(totalBoneWeights);
for (size_t iVertex = 0; iVertex < vertexArray->GetVertexCount(); ++iVertex)
{
auto &bones = this->meshes[iMesh].skinningVertexAttributes[iVertex].bones;
{
for (size_t iBone = 0; iBone < bones.count; ++iBone)
{
auto &bone = bones[iBone];
intermediarySerializer.Write(static_cast<uint32_t>(bone.boneIndex));
intermediarySerializer.Write(static_cast<float >(bone.weight));
}
}
}
}
}
else
{
intermediarySerializer.Write(static_cast<uint32_t>(0));
}
// Default uniforms.
this->meshes[iMesh].defaultUniforms.Serialize(intermediarySerializer);
}
}
header.id = Serialization::ChunkID_Model_Meshes;
header.version = 1;
header.sizeInBytes = intermediarySerializer.GetBufferSizeInBytes();
serializer.Write(header);
serializer.Write(intermediarySerializer.GetBuffer(), header.sizeInBytes);
/////////////////////////////////////
// Animation
intermediarySerializer.Clear();
intermediarySerializer.Write(static_cast<uint32_t>(m_animation.GetKeyFrameCount()));
for (uint32_t iKeyFrame = 0; iKeyFrame < m_animation.GetKeyFrameCount(); ++iKeyFrame)
{
// Time.
intermediarySerializer.Write(static_cast<float>(m_animation.GetKeyFrameTimeByIndex(iKeyFrame)));
// Channels.
intermediarySerializer.Write(static_cast<uint32_t>(this->animationChannelBones.count));
for (size_t iChannel = 0; iChannel < this->animationChannelBones.count; ++iChannel)
{
auto channel = this->animationChannelBones.buffer[iChannel]->value;
auto bone = this->animationChannelBones.buffer[iChannel]->key;
assert(channel != nullptr);
assert(bone != nullptr);
{
// Bone Index.
size_t boneIndex;
this->FindBoneIndex(bone, boneIndex);
intermediarySerializer.Write(static_cast<uint32_t>(boneIndex));
// Bone Transformation.
glm::vec3 position;
glm::quat rotation;
glm::vec3 scale;
auto key = static_cast<TransformAnimationKey*>(channel->GetKey(iKeyFrame));
if (key != nullptr)
{
position = key->position;
rotation = key->rotation;
scale = key->scale;
}
else
{
// We should never actually get here, but for completeness we'll just write identities.
position = bone->GetPosition();
rotation = bone->GetRotation();
scale = bone->GetScale();
}
intermediarySerializer.Write(position);
intermediarySerializer.Write(rotation);
intermediarySerializer.Write(scale);
}
}
}
intermediarySerializer.Write(this->animationAABBPadding);
header.id = Serialization::ChunkID_Model_Animation;
header.version = 1;
header.sizeInBytes = intermediarySerializer.GetBufferSizeInBytes();
serializer.Write(header);
serializer.Write(intermediarySerializer.GetBuffer(), header.sizeInBytes);
/////////////////////////////////////
// Animation Segments
intermediarySerializer.Clear();
intermediarySerializer.Write(static_cast<uint32_t>(m_animation.GetNamedSegmentCount()));
for (size_t iSegment = 0; iSegment < m_animation.GetNamedSegmentCount(); ++iSegment)
{
auto segment = m_animation.GetNamedSegmentByIndex(iSegment);
assert(segment != nullptr);
{
intermediarySerializer.WriteString(segment->name);
intermediarySerializer.Write(static_cast<uint32_t>(segment->startKeyFrame));
intermediarySerializer.Write(static_cast<uint32_t>(segment->endKeyFrame));
}
}
header.id = Serialization::ChunkID_Model_AnimationSegments;
header.version = 1;
header.sizeInBytes = intermediarySerializer.GetBufferSizeInBytes();
serializer.Write(header);
serializer.Write(intermediarySerializer.GetBuffer(), header.sizeInBytes);
/////////////////////////////////////
// Animation Sequences
/*
intermediarySerializer.Clear();
intermediarySerializer.Write(static_cast<uint32_t>(this->animationSequences.count));
for (size_t iSequence = 0; iSequence < this->animationSequences.count; ++iSequence)
{
}
header.id = Serialization::ChunkID_Model_AnimationSequences;
header.version = 1;
header.sizeInBytes = intermediarySerializer.GetBufferSizeInBytes();
serializer.Write(header);
serializer.Write(intermediarySerializer.GetBuffer(), header.sizeInBytes);
*/
/////////////////////////////////////
// Convex Hulls
intermediarySerializer.Clear();
intermediarySerializer.Write(static_cast<uint32_t>(m_convexHulls.count));
Vector<uint32_t> vertexCounts(m_convexHulls.count);
Vector<uint32_t> indexCounts( m_convexHulls.count);
Vector<float> vertices;
Vector<uint32_t> indices;
for (size_t iConvexHull = 0; iConvexHull < m_convexHulls.count; ++iConvexHull)
{
auto convexHull = m_convexHulls[iConvexHull];
assert(convexHull != nullptr);
{
uint32_t vertexCount = static_cast<uint32_t>(convexHull->GetVertexCount());
uint32_t indexCount = static_cast<uint32_t>(convexHull->GetIndexCount());
vertexCounts.PushBack(vertexCount);
indexCounts.PushBack( indexCount);
for (uint32_t iVertex = 0; iVertex < vertexCount; ++iVertex)
{
vertices.PushBack(convexHull->GetVertices()[iVertex * 3 + 0]);
vertices.PushBack(convexHull->GetVertices()[iVertex * 3 + 1]);
vertices.PushBack(convexHull->GetVertices()[iVertex * 3 + 2]);
}
for (uint32_t iIndex = 0; iIndex < indexCount; ++iIndex)
{
indices.PushBack(convexHull->GetIndices()[iIndex]);
}
}
}
intermediarySerializer.Write(vertexCounts.buffer, vertexCounts.count * 4);
intermediarySerializer.Write(indexCounts.buffer, indexCounts.count * 4);
intermediarySerializer.Write(static_cast<uint32_t>(vertices.count));
intermediarySerializer.Write(static_cast<uint32_t>(indices.count));
intermediarySerializer.Write(vertices.buffer, vertices.count * 4);
intermediarySerializer.Write(indices.buffer, indices.count * 4);
intermediarySerializer.Write(this->convexHullBuildSettings);
header.id = Serialization::ChunkID_Model_ConvexHulls;
header.version = 1;
header.sizeInBytes = intermediarySerializer.GetBufferSizeInBytes();
serializer.Write(header);
serializer.Write(intermediarySerializer.GetBuffer(), header.sizeInBytes);
/////////////////////////////////////
// Null Chunk
header.id = Serialization::ChunkID_Null;
header.version = 1;
header.sizeInBytes = 0;
serializer.Write(header);
}
