private void InitTriangleInfoDic()
{
MeshFilter[] meshFilters = this.transform.GetComponentsInChildren <MeshFilter>();
foreach (MeshFilter filter in meshFilters)
{
objDic.Add(filter.gameObject, IntersectionTest.GetTriangles(filter));
}
}
private void IntersectTest()
{
#if UNITY_EDITOR
GameObject go;
// -- for debug
Stopwatch stopwatch = Stopwatch.StartNew();
int objIndex = 0;
int intersectCount = 0;
List <Task> tasks = new List <Task>();
foreach (KeyValuePair <GameObject, TriangleInfo[]> pair in objDic)
{
if (pair.Value == null)
{
continue;
}
// 每个物体多线程相交测试
if (enableMultiThreading)
{
tasks.Add(Task.Factory.StartNew(MultiThreadingIntersectTest, new ObjInfo(pair)));
continue;
}
// 单线程相交
objIndex++;
intersectCount = 0;
go = pair.Key;
Bounds bound = go.GetComponent <Renderer>().bounds;
AABBBoundBox objBox = new AABBBoundBox(bound.min, bound.max);
var l = octree.GetIntersections(objBox);
for (int i = 0; i < l.Count; i++)
{
foreach (TriangleInfo tInfo in pair.Value)
{
if (l[i].overlapWithTriangle)
{
continue;
}
if (IntersectionTest.AABBTriangle(l[i].boundBox, tInfo))
{
l[i].overlapWithTriangle = true;
}
}
intersectCount++;
bool cancel = EditorUtility.DisplayCancelableProgressBar("Voxelize", $"No.{objIndex} Object (of {objDic.Count}), Intersect Count {intersectCount}/{l.Count}",
(float)intersectCount / l.Count);
if (cancel)
{
break;
}
}
}
Task.WaitAll(tasks.ToArray());
stopwatch.Stop();
EditorUtility.ClearProgressBar();
Debug.Log($"体素化完成，耗时:{stopwatch.ElapsedMilliseconds}ms");
#endif
}
private void IntersectTestDivide(object obj)
{
Tuple <int, int, int> indexTuple = (Tuple <int, int, int>)obj;
int startX = indexTuple.Item1;
int startY = indexTuple.Item2;
int startZ = indexTuple.Item3;
int xRange = startX + divide;
int yRange = startY + divide;
int zRange = startZ + divide;
xRange = xRange < _xMax ? xRange : _xMax;
yRange = yRange < _yMax ? yRange : _yMax;
zRange = zRange < _zMax ? zRange : _zMax;
#region Naive Simple Violent Loop...
for (int x = startX; x < xRange; x++)
{
for (int y = startY; y < yRange; y++)
{
for (int z = startZ; z < zRange; z++)
{
if (_voxels[x, y, z])
{
continue;
}
AABBBoundBox boundBox = new AABBBoundBox(GetVoxelBoundMin(x, y, z), GetVoxelBoundMax(x, y, z));
List <TriangleBound> triangleBoundList = _octree.GetIntersections(boundBox);
for (int i = 0; i < triangleBoundList.Count; i++)
{
for (int j = 0; j < triangleBoundList[i].triangles.Length; j++)
{
if (IntersectionTest.AABBTriangle(boundBox, triangleBoundList[i].triangles[j]))
{
_voxels[x, y, z] = true;
}
}
}
}
}
}
#endregion
lock (_locker)
{
_completeCount++;
}
}
//检测碰撞
private void CollisionDetection()
{
for (int i = 0; i < spheres.Length; ++i)
{
if (curBall == i)
{
continue;
}
if (IntersectionTest.Check_Sphere_Sphere(spheres[i].Sphere, spheres[curBall].Sphere))
{
spheresVelocity[i] += spheresVelocity[curBall];
spheresVelocity[curBall] = Vector3.zero;
curBall = i;
break;
}
}
}
void MultiThreadingIntersectTest(object p)
{
ObjInfo info = (ObjInfo)p;
var l = octree.GetIntersections(info.boundBox);
for (int i = 0; i < l.Count; i++)
{
foreach (TriangleInfo tInfo in info.triangles)
{
if (l[i].overlapWithTriangle)
{
continue;
}
if (IntersectionTest.AABBTriangle(l[i].boundBox, tInfo))
{
l[i].overlapWithTriangle = true;
}
}
}
Debug.Log($"Thread complete : {Thread.CurrentThread.ManagedThreadId}");
}
private void SimpleCollisionDetection()
{
for (int i = 0; i < spheres.Count; ++i)
{
for (int j = 0; j < aabbs.Count; ++j)
{
if (spheres[i].HasCheckedAABB == aabbs[j])
{
continue;
}
Vector3 closestPt;
if (IntersectionTest.Check_Sphere_AABB(spheres[i].sphere, aabbs[j], out closestPt))
{
CollisionDetection.Plane p = aabbs[j].GetClosestPlane(spheres[i].sphere.center);
Vector3 noraml = p.normal;
Vector3 v = spheres[i].Rigidbody.velocity;
v = Vector3.Reflect(v, noraml);
spheres[i].Rigidbody.velocity = v * 0.9f;
spheres[i].HasCheckedAABB = aabbs[j];
}
}
for (int k = 0; k < spheres.Count; ++k)
{
if (k == i)
{
continue;
}
if (spheres[i].HasCheckedSphere == spheres[k])
{
continue;
}
if (IntersectionTest.Check_Sphere_Sphere(spheres[i].sphere, spheres[k].sphere))
{
spheres[i].Rigidbody.velocity = -spheres[i].Rigidbody.velocity * 0.9f;
spheres[i].HasCheckedSphere = spheres[k];
}
}
}
}
private void HandleDynamicVsHeightMapCollision(
DynamicCollider dynCollider,
HeightMapCollider hMapCollider,
List <Contact> contacts,
List <Segment> coarseContacts)
{
// position of bounding sphere in world coordinates
Vector3 spherePos = dynCollider.BoundingSphere.CenterW;
float radius = dynCollider.BoundingSphere.Radius;
// filtering the triangle grid with the sphere projection
hMapCollider.TriGrid.FilterBySphereProjection(spherePos, radius);
foreach (Triangle tri in hMapCollider.TriGrid)
{
Vector3Int ind = hMapCollider.TriGrid.CurrentIndices;
colors[ind.x] = colors[ind.y] = colors[ind.z] = Color.blue;
if (IntersectionTest.SphereVsTriangle(spherePos, radius, tri))
{
if (dynCollider is CSACollider)
{
// curves vs triangle
}
else if (dynCollider is BruteForceCollider)
{
// triangles vs triangle
}
else if (dynCollider is VertexCollider)
{
// vertices vs triangle
}
}
}
}
private void HandleCSAVsHeightMapCollision(
CSACollider csaCollider,
HeightMapCollider hMapCollider,
List <Contact> contacts,
List <Segment> coarseContacts
)
{
foreach (Triangle tri in hMapCollider.TriGrid)
{
Vector3Int ind = hMapCollider.TriGrid.CurrentIndices;
// position of bounding sphere in world coordinates
Vector3 spherePos = csaCollider.BoundingSphere.CenterW;
float radius = csaCollider.BoundingSphere.Radius;
colors[ind.x] = colors[ind.y] = colors[ind.z] = Color.blue;
if (IntersectionTest.SphereVsTriangle(spherePos, radius, tri))
{
colors[ind.x] = colors[ind.y] = colors[ind.z] = Color.red;
Diagnostics.Tic();
foreach (Slice slice in csaCollider.Slices)
{
if (IntersectionTest.PlaneVsTriangle(slice, tri, out Vector3 vec1, out Vector3 vec2))
{
// endpoints of the plane-triangle intersection in plane local coordinates
Vector2 vecA = slice.TransformToLocalBase(vec1);
Vector2 vecB = slice.TransformToLocalBase(vec2);
// calculating the data for transforming the curve
float theta = Mathf.Atan2(vecB.y - vecA.y, vecB.x - vecA.x);
Complex segRotation = new Complex(theta);
Transform2D segTrf = new Transform2D(-vecA, segRotation);
float segLength = Vector2.Distance(vecA, vecB);
Vector2 upInLocal = slice.TransformToLocalBase(vec1 + tri.Normal);
foreach (FourierCurve curve in slice.curves)
{
if (IntersectionTest.SegmentVsRectangle(curve.AABB, segTrf, segLength))
{
// add the segments to render on the scene
debugSegments.Add(new Segment(vec1, vec2));
coarseContacts.Add(new Segment(vec1, vec2));
if (csaCollider.rootFinder == CSACollider.RootFinder.SimulatedAnnealing)
{
if (IntersectionTest.SegmentVsCurveSA(
curve,
vecA,
vecB,
segLength,
segRotation,
upInLocal,
out Vector2 contactInPlaneLocal,
out float penetration,
annealingTemperature,
penetrationLimit))
{
// rotate back the contact point into world coordinates
Vector3 contactInWorld = contactInPlaneLocal.x * slice.LocalX + contactInPlaneLocal.y * slice.LocalY + slice.RefPoint;
debugPoints.Add(contactInWorld);
segmentColor.Add(Color.green);
// the contact point relative to the object's transform
Vector3 contactInLocal = contactInPlaneLocal.x * slice.LocalXL + contactInPlaneLocal.y * slice.LocalYL;
RigidBody body = csaCollider.GetComponent <RigidBody>();
if (!csaCollider.isTrigger && body != null && body.enabled)
{
contacts.Add(new Contact(tri, contactInWorld, body));
}
}
else
{
segmentColor.Add(Color.magenta);
}
}
else if (csaCollider.rootFinder == CSACollider.RootFinder.AberthEhrlich)
{
List <Vector2> intersections = new List <Vector2>();
if (IntersectionTest.SegmentVsCurveAE(
curve,
vecA,
vecB,
segLength,
segRotation,
upInLocal,
intersections))
{
foreach (Vector2 intPlane in intersections)
{
Vector3 intInWorld = intPlane.x * slice.LocalX + intPlane.y * slice.LocalY + slice.RefPoint;
debugPoints.Add(intInWorld);
segmentColor.Add(Color.green);
RigidBody body = csaCollider.GetComponent <RigidBody>();
if (!csaCollider.isTrigger && body != null && body.enabled)
{
contacts.Add(new Contact(tri, intInWorld, body));
}
}
}
else
{
segmentColor.Add(Color.magenta);
}
}
}
}
}
}
Diagnostics.Toc2Log("slice time");
}
}
