private void Events_InitialCollisionDetected(EntityCollidable sender, Collidable info, CollidablePairHandler pair, ContactData contact)
{
try
{
//var contact = pair.Contacts[0].Contact;
//if(contact.PenetrationDepth>2f)
//DebugSystem.Instance.DebugCommandUI.Echo(contact.PenetrationDepth.ToString());
// Select collisionInformation for object in contact with instead of the ships own collisionInformation
Collidable candidate = (pair.BroadPhaseOverlap.EntryA == racerEntity.CollisionInformation ? pair.BroadPhaseOverlap.EntryB : pair.BroadPhaseOverlap.EntryA) as Collidable;
if (candidate.Equals(Physics.currentTrackFloor))
{
ReactToTrackHit(contact);
}
else if (candidate.Equals(Physics.currentTrackWall))
{
ReactToWallHit(contact);
}
else
{
ReactToShipShipCollision(contact, candidate);
}
}
catch (Exception e)
{
// System.Diagnostic.Debug.WriteLine("Unfound pair");
}
}
private void ReactToShipShipCollision(ContactData contact, Collidable candidate)
{
foreach (Racer r in Race.currentRacers)
{
Entity collidedBody = r.shipPhysics.racerEntity;
if (candidate.Equals(collidedBody.CollisionInformation))
{
//Console.WriteLine("ship hit ship ");
Vector3 colVel = collidedBody.LinearVelocity;
r.raceTiming.previousSpeedOfCollidedBody = Math.Abs(colVel.Length());
//// Deal with on top collision (NOT TESTED)
//if (r.shipPhysics.shipRayToTrackTime < 23f && shipRayToTrackTime > 23f)
//{
// Console.WriteLine("Landed on top");
// float impulseLeft = Vector3.Dot(physicsBody.Position - r.shipPhysics.physicsBody.Position, physicsBody.WorldTransform.Left);
// physicsBody.ApplyImpulse(physicsBody.Position, physicsBody.WorldTransform.Left * impulseLeft);
//}
/////////////////////////
//Find opponents quadrant
/////////////////////////
Vector3 opponentContactVector = contact.Position - collidedBody.Position;
//Find quarent
Quadrant oFL_BR = Quadrant.FrontLeft;
Quadrant oFR_BL = Quadrant.FrontRight;
//old line test was between (contactVector, collidedBody.OrientationMatrix.Forward)
Matrix3X3 oM = collidedBody.OrientationMatrix;//opponent Matrix
if (Vector3.Dot(opponentContactVector, oM.Backward + oM.Right) > 0)
{
oFL_BR = Quadrant.BackRight;
}
if (Vector3.Dot(opponentContactVector, oM.Backward + oM.Left) > 0)
{
oFR_BL = Quadrant.BackLeft;
}
//Quadrent? result = null;// '?' makes it nullable
if ((oFL_BR == Quadrant.FrontLeft) && (oFR_BL == Quadrant.FrontRight))
{
opponentQuadrant = Quadrant.Front;
}
else if ((oFL_BR == Quadrant.BackRight) && (oFR_BL == Quadrant.BackLeft))
{
opponentQuadrant = Quadrant.Back;
}
else if ((oFL_BR == Quadrant.FrontLeft) && (oFR_BL == Quadrant.BackLeft))
{
opponentQuadrant = Quadrant.Left;
}
else if ((oFL_BR == Quadrant.BackRight) && (oFR_BL == Quadrant.FrontRight))
{
opponentQuadrant = Quadrant.Right;
}
/////////////////////
//Find local quadrant
/////////////////////
Vector3 localContactVector = contact.Position - racerEntity.Position;
Vector3 contactVector = contact.Position - collidedBody.Position;
//Find quarent
Quadrant lFL_BR = Quadrant.FrontLeft;
Quadrant lFR_BL = Quadrant.FrontRight;
//old line test was between (contactVector, collidedBody.OrientationMatrix.Forward)
Matrix3X3 lM = collidedBody.OrientationMatrix;//opponent Matrix
if (Vector3.Dot(localContactVector, lM.Backward + lM.Right) > 0)
{
lFL_BR = Quadrant.BackRight;
}
if (Vector3.Dot(localContactVector, lM.Backward + lM.Left) > 0)
{
lFR_BL = Quadrant.BackLeft;
}
//Quadrent? result = null;// '?' makes it nullable
if ((lFL_BR == Quadrant.FrontLeft) && (lFR_BL == Quadrant.FrontRight))
{
localQuadrant = Quadrant.Front;
}
else if ((lFL_BR == Quadrant.BackRight) && (lFR_BL == Quadrant.BackLeft))
{
localQuadrant = Quadrant.Back;
}
else if ((lFL_BR == Quadrant.FrontLeft) && (lFR_BL == Quadrant.BackLeft))
{
localQuadrant = Quadrant.Left;
}
else if ((lFL_BR == Quadrant.BackRight) && (lFR_BL == Quadrant.FrontRight))
{
localQuadrant = Quadrant.Right;
}
//Console.WriteLine("Collision in quadrent " + result.ToString());
/////////////////////////////////////
/////////////////////////////////////
/////////////////////////////////////
Vector3 bounceVector = racerEntity.Position - collidedBody.Position;
bounceVector.Normalize();
float shipVelocity_inShipBounceDirection = Vector3.Dot(racerEntity.LinearVelocity, bounceVector); // no need to divide by bounceVector.Length() as normalized
Vector3 relativeVelocity = collidedBody.LinearVelocity - racerEntity.LinearVelocity;
float realtiveVelInShipBounceDirection = Vector3.Dot(racerEntity.LinearVelocity, bounceVector) - Vector3.Dot(collidedBody.LinearVelocity, bounceVector); // no need to divide by bounceVector.Length() as normalized
bool localQuadIsSide = (localQuadrant == Quadrant.Left || localQuadrant == Quadrant.Right);
bool opponentQuadIsSide = (opponentQuadrant == Quadrant.Left || opponentQuadrant == Quadrant.Right);
if (localQuadrant == Quadrant.Front)
{
var frontPost = racerEntity.Position + Vector3.Transform(new Vector3(0f, 0f, -3.75f), racerEntity.Orientation);
Vector3 fusionVector = frontPost - collidedBody.Position;
Vector3 direction = racerEntity.OrientationMatrix.Left;
if (Vector3.Dot(racerEntity.OrientationMatrix.Left, fusionVector) < 0)
{
//Bend to right
direction *= -1;
}
Vector3 a = collidedBody.Position - racerEntity.Position;
Vector3 b = racerEntity.OrientationMatrix.Forward;
var tau = Math.Sin(angleBetween(a, b)) / a.Length();
float scaleFactor = (float)Math.Abs(2f - tau);
racerEntity.ApplyImpulse(racerEntity.Position, direction * (200 * scaleFactor));
}
if (racerEntity.LinearVelocity.Length() < 50) //TODO: tweak
{
/////////////////
//Bounce in a similar way to when hitting walls
//Slow ship down in other components
racerEntity.LinearVelocity *= 0.94f;
//Get scale of bounce based on speed ship was moving towards the ship.
//Minimum bounce until 5 speed, max bounce after 100;
float minmaxV = Math.Min(50, Math.Max(10, (Math.Abs(shipVelocity_inShipBounceDirection))));
//float bounceScale = minmaxV / 20;//scale velocity down so max bounce is 5 times as strong as bounce at 20mph, and 20mph bounce is unscaled
racerEntity.LinearVelocity -= bounceVector * shipVelocity_inShipBounceDirection;
//Apply a bounce impulse
racerEntity.ApplyImpulse(racerEntity.Position, bounceVector * 25 * minmaxV);
}
else if (localQuadIsSide && opponentQuadIsSide)
{
/////////////////
//Bounce in a similar way to when hitting walls
//Slow ship down in other components
racerEntity.LinearVelocity *= 0.94f;
//Get scale of bounce based on speed ship was moving towards the ship.
//Minimum bounce until 5 speed, max bounce after 100;
float minmaxV = Math.Min(100, Math.Max(5, (Math.Abs(shipVelocity_inShipBounceDirection))));
//float bounceScale = minmaxV / 20;//scale velocity down so max bounce is 5 times as strong as bounce at 20mph, and 20mph bounce is unscaled
racerEntity.LinearVelocity -= bounceVector * shipVelocity_inShipBounceDirection;
//Apply a bounce impulse
racerEntity.ApplyImpulse(racerEntity.Position, bounceVector * 15 * minmaxV);
}
else if ((localQuadrant == Quadrant.Front) && opponentQuadrant == Quadrant.Back)
{
/////////////////
//Create ramming effect
//var worldCoordinates = racerEntity.Position + Vector3.Transform(backPosLeft, racerEntity.Orientation);
racerEntity.LinearVelocity -= bounceVector * realtiveVelInShipBounceDirection;
// Dampens both ships' speeds
if (localQuadrant == Quadrant.Front)
{
racerEntity.LinearVelocity *= 0.98f;
}
else
{
racerEntity.LinearVelocity *= 0.92f;
}
//Create ramming effect by speeding up front ship and slowing down back ship
float skewfactor = 7 / 8;
if (localQuadrant == Quadrant.Front)
{
skewfactor = 1 / 9;
}
//physicsBody.LinearVelocity = skewfactor * physicsBody.LinearVelocity + (1 - skewfactor) * collidedBody.LinearVelocity;
if (racerEntity.LinearVelocity.Length() != 0)
{
Vector3 normalisedVel = racerEntity.LinearVelocity;
normalisedVel.Normalize();
racerEntity.LinearVelocity = normalisedVel * (skewfactor * racerEntity.LinearVelocity.Length() + (1 - skewfactor) * collidedBody.LinearVelocity.Length());
}
//float minmaxV = Math.Min(100, Math.Max(5, (Math.Abs(realtiveVelInShipBounceDirection))));
//physicsBody.ApplyImpulse(physicsBody.Position, -bounceVector * 5 * minmaxV);// * angleModifier);
}
//else if () //FrontFront, BackBack, BackLeft, BackSide, FrontSide
//{
//}
else
{
/////////////////
//Bounce in a similar way to when hitting walls, but less violently than side to sides
//Slow ship down in other components
//if (localQuadrant == Quadrant.Front) physicsBody.LinearVelocity *= 0.98f;
//else
racerEntity.LinearVelocity *= 0.92f;
//Get scale of bounce based on speed ship was moving towards the ship.
//Minimum bounce until 5 speed, max bounce after 100;
float minmaxV = Math.Min(100, Math.Max(25, (Math.Abs(shipVelocity_inShipBounceDirection))));
//float bounceScale = minmaxV / 20;//scale velocity down so max bounce is 5 times as strong as bounce at 20mph, and 20mph bounce is unscaled
racerEntity.LinearVelocity -= bounceVector * shipVelocity_inShipBounceDirection;
//Apply a bounce impulse
racerEntity.ApplyImpulse(racerEntity.Position, bounceVector * 12 * minmaxV);
}
//Console.WriteLine("Collision in quadrent " + result.ToString());
/////////////////////////////////
////Remove ships velocity towards the other ship
////by setting velocity component in direction of bounce to 0
//float shipVelocity_inShipBounceDirection = Vector3.Dot(physicsBody.LinearVelocity, bounceVector);// no need to divide by bounceVector.Length() as normalized
////Get scale of bounce based on speed ship was moving towards the ship.
////Minimum bounce until 5 speed, max bounce after 100;
//float minmaxV = Math.Min(100, Math.Max(5, (Math.Abs(shipVelocity_inShipBounceDirection))));
////float bounceScale = minmaxV / 20;//scale velocity down so max bounce is 5 times as strong as bounce at 20mph, and 20mph bounce is unscaled
////Apply a bounce impulse
//physicsBody.ApplyImpulse(physicsBody.Position, bounceVector * 25 * minmaxV);
/////////////////////////////////
//float bounceVal = 2000f;
//if (!((Vector3.Dot(collidedBody.Position - contact.Position, collidedBody.OrientationMatrix.Left) < 0)))
//{
// bounceVal = -bounceVal;
// Console.Out.WriteLine("Bounce Inverted");
//}
//else
// Console.Out.WriteLine("Bounce Normal");
//Keep the slower ship still, while pushing the other ship around it
if (racerEntity.LinearVelocity.Length() > collidedBody.LinearVelocity.Length())
{
//Bounce the ship to the left
//physicsBody.ApplyImpulse(physicsBody.Position, collidedBody.OrientationMatrix.Left * 2000);
}
r.lastCollisionPoint = contact.Position;
//Initiate controller vibration
r.isColliding = true;
if (r.GetType() == typeof(RacerHuman))
{
SoundManager.Collision();
}
//Vector3 relativeVelocity = collidedBody.LinearVelocity - physicsBody.LinearVelocity;
//float realtiveVelInShipBounceDirection = Vector3.Dot(physicsBody.LinearVelocity, bounceVector) - Vector3.Dot(collidedBody.LinearVelocity, bounceVector);// no need to divide by bounceVector.Length() as normalized
//float shipWidth = 5f;//TODO:don't set manually //TODO: optimize
//float shipLength = 7.5f;//TODO:don't set manually
//Vector3 backPosRight = new Vector3(shipWidth / 2, 0f, shipLength / 2);//x+-
//Vector3 backPosLeft = new Vector3(-shipWidth / 2, 0f, shipLength / 2);
//var worldCoordinates = physicsBody.Position + Vector3.Transform(backPosLeft, physicsBody.Orientation);
//Vector3.tran
////Front stabilizers, not as far out as physicsBody is not that wide
//stabilizerRaycastList.Add(new Vector3(shipWidth / 4, 0f, -shipLength / 2));
//stabilizerRaycastList.Add(new Vector3(-shipWidth / 4, 0f, -shipLength / 2));
////Back stabilizers
//stabilizerRaycastList.Add(new Vector3(shipWidth / 2, 0f, shipLength / 2));
//stabilizerRaycastList.Add(new Vector3(-shipWidth / 2, 0f, shipLength / 2));
//physicsBody.LinearVelocity -= bounceVector * realtiveVelInShipBounceDirection;
// Dampens both ships' speeds
//physicsBody.LinearVelocity *= 0.94f;
//Create ramming effect by speeding up front ship and slowing down back ship
//float skewfactor = 7 / 8;
//physicsBody.LinearVelocity = skewfactor * physicsBody.LinearVelocity + (1 - skewfactor) * collidedBody.LinearVelocity;
//if (physicsBody.LinearVelocity.Length() != 0)
//{
// Vector3 normalisedVel = physicsBody.LinearVelocity;
// normalisedVel.Normalize();
// physicsBody.LinearVelocity = normalisedVel * (skewfactor * physicsBody.LinearVelocity.Length() + (1 - skewfactor) * collidedBody.LinearVelocity.Length());
//}
////else move slightly in direction of bounce vector from other ship
//float minmaxV = Math.Min(100, Math.Max(5, (Math.Abs(realtiveVelInShipBounceDirection))));
//physicsBody.ApplyImpulse(physicsBody.Position, -bounceVector * 5 * minmaxV);// * angleModifier);
//TODO: fire off crap on collision
//BeatShift.emitter = new ParticleEmitter((Func<Vector3>)delegate { return contacts[0].Position; }, BeatShift.settingsb, BeatShift.pEffect);
}
//}
}
}