public void ProcessConstraints()
{
if (m_manifolds.Count + m_constraints.Count > 0)
{
m_solver.SolveGroup(m_bodies, m_bodies.Count, m_manifolds, 0, m_manifolds.Count, m_constraints, 0, m_constraints.Count, m_solverInfo, m_debugDrawer, m_dispatcher);
}
m_bodies.Clear();
m_manifolds.Clear();
m_constraints.Clear();
}
public void AddValueAndResize()
{
var intArr = new int[] { 2, 3, 4 };
var sut = new ObjectArray();
sut.Add(0);
sut.Add(true);
sut.Add(3.4647);
sut.Add("string");
sut.Add(intArr);
sut.Add(6);
sut.Add(0);
sut.Add(8);
sut.Add(9);
sut.Add(10);
sut.Clear();
Assert.Equal(0, sut.Count);
}
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
//swapped?
m_manifoldPtr = m_dispatcher.GetNewManifold(body0, body1);
m_ownManifold = true;
}
//resultOut = new ManifoldResult();
resultOut.SetPersistentManifold(m_manifoldPtr);
//comment-out next line to test multi-contact generation
//resultOut.GetPersistentManifold().ClearManifold();
ConvexShape min0 = body0.GetCollisionShape() as ConvexShape;
ConvexShape min1 = body1.GetCollisionShape() as ConvexShape;
IndexedVector3 normalOnB;
IndexedVector3 pointOnBWorld;
#if !BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
if ((min0.GetShapeType() == BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE) && (min1.GetShapeType() == BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE))
{
CapsuleShape capsuleA = min0 as CapsuleShape;
CapsuleShape capsuleB = min1 as CapsuleShape;
//IndexedVector3 localScalingA = capsuleA.GetLocalScaling();
//IndexedVector3 localScalingB = capsuleB.GetLocalScaling();
float threshold = m_manifoldPtr.GetContactBreakingThreshold();
float dist = CapsuleCapsuleDistance(out normalOnB, out pointOnBWorld, capsuleA.GetHalfHeight(), capsuleA.GetRadius(),
capsuleB.GetHalfHeight(), capsuleB.GetRadius(), capsuleA.GetUpAxis(), capsuleB.GetUpAxis(),
body0.GetWorldTransform(), body1.GetWorldTransform(), threshold);
if (dist < threshold)
{
Debug.Assert(normalOnB.LengthSquared() >= (MathUtil.SIMD_EPSILON * MathUtil.SIMD_EPSILON));
resultOut.AddContactPoint(ref normalOnB, ref pointOnBWorld, dist);
}
resultOut.RefreshContactPoints();
return;
}
#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
m_sepDistance.updateSeparatingDistance(body0.getWorldTransform(), body1.getWorldTransform());
}
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance() <= 0.f)
#endif //USE_SEPDISTANCE_UTIL2
{
ClosestPointInput input = ClosestPointInput.Default();
using (GjkPairDetector gjkPairDetector = BulletGlobals.GjkPairDetectorPool.Get())
{
gjkPairDetector.Initialize(min0, min1, m_simplexSolver, m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.SetMinkowskiA(min0);
gjkPairDetector.SetMinkowskiB(min1);
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
input.m_maximumDistanceSquared = float.MaxValue;
}
else
#endif //USE_SEPDISTANCE_UTIL2
{
input.m_maximumDistanceSquared = min0.GetMargin() + min1.GetMargin() + m_manifoldPtr.GetContactBreakingThreshold();
input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
}
//input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
if (min0.IsPolyhedral() && min1.IsPolyhedral())
{
DummyResult dummy = new DummyResult();
PolyhedralConvexShape polyhedronA = min0 as PolyhedralConvexShape;
PolyhedralConvexShape polyhedronB = min1 as PolyhedralConvexShape;
if (polyhedronA.GetConvexPolyhedron() != null && polyhedronB.GetConvexPolyhedron() != null)
{
float threshold = m_manifoldPtr.GetContactBreakingThreshold();
float minDist = float.MinValue;
IndexedVector3 sepNormalWorldSpace = new IndexedVector3(0, 1, 0);
bool foundSepAxis = true;
if (dispatchInfo.m_enableSatConvex)
{
foundSepAxis = PolyhedralContactClipping.FindSeparatingAxis(
polyhedronA.GetConvexPolyhedron(), polyhedronB.GetConvexPolyhedron(),
body0.GetWorldTransform(),
body1.GetWorldTransform(),
out sepNormalWorldSpace);
}
else
{
#if ZERO_MARGIN
gjkPairDetector.SetIgnoreMargin(true);
gjkPairDetector.GetClosestPoints(input, resultOut, dispatchInfo.m_debugDraw);
#else
gjkPairDetector.GetClosestPoints(ref input, dummy, dispatchInfo.m_debugDraw);
#endif
float l2 = gjkPairDetector.GetCachedSeparatingAxis().LengthSquared();
if (l2 > MathUtil.SIMD_EPSILON)
{
sepNormalWorldSpace = gjkPairDetector.GetCachedSeparatingAxis() * (1.0f / l2);
//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
minDist = gjkPairDetector.GetCachedSeparatingDistance() - min0.GetMargin() - min1.GetMargin();
#if ZERO_MARGIN
foundSepAxis = true; //gjkPairDetector.getCachedSeparatingDistance()<0.f;
#else
foundSepAxis = gjkPairDetector.GetCachedSeparatingDistance() < (min0.GetMargin() + min1.GetMargin());
#endif
}
}
if (foundSepAxis)
{
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
PolyhedralContactClipping.ClipHullAgainstHull(sepNormalWorldSpace, polyhedronA.GetConvexPolyhedron(), polyhedronB.GetConvexPolyhedron(),
body0.GetWorldTransform(),
body1.GetWorldTransform(), minDist - threshold, threshold, resultOut);
}
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
return;
}
else
{
//we can also deal with convex versus triangle (without connectivity data)
if (polyhedronA.GetConvexPolyhedron() != null && polyhedronB.GetShapeType() == BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE)
{
m_vertices.Clear();
TriangleShape tri = polyhedronB as TriangleShape;
m_vertices.Add(body1.GetWorldTransform() * tri.m_vertices1[0]);
m_vertices.Add(body1.GetWorldTransform() * tri.m_vertices1[1]);
m_vertices.Add(body1.GetWorldTransform() * tri.m_vertices1[2]);
float threshold = m_manifoldPtr.GetContactBreakingThreshold();
IndexedVector3 sepNormalWorldSpace = new IndexedVector3(0, 1, 0);;
float minDist = float.MinValue;
float maxDist = threshold;
bool foundSepAxis = false;
if (false)
{
polyhedronB.InitializePolyhedralFeatures();
foundSepAxis = PolyhedralContactClipping.FindSeparatingAxis(
polyhedronA.GetConvexPolyhedron(), polyhedronB.GetConvexPolyhedron(),
body0.GetWorldTransform(),
body1.GetWorldTransform(),
out sepNormalWorldSpace);
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
}
else
{
#if ZERO_MARGIN
gjkPairDetector.SetIgnoreMargin(true);
gjkPairDetector.GetClosestPoints(input, resultOut, dispatchInfo.m_debugDraw);
#else
gjkPairDetector.GetClosestPoints(ref input, dummy, dispatchInfo.m_debugDraw);
#endif//ZERO_MARGIN
float l2 = gjkPairDetector.GetCachedSeparatingAxis().LengthSquared();
if (l2 > MathUtil.SIMD_EPSILON)
{
sepNormalWorldSpace = gjkPairDetector.GetCachedSeparatingAxis() * (1.0f / l2);
//minDist = gjkPairDetector.getCachedSeparatingDistance();
//maxDist = threshold;
minDist = gjkPairDetector.GetCachedSeparatingDistance() - min0.GetMargin() - min1.GetMargin();
foundSepAxis = true;
}
}
if (foundSepAxis)
{
PolyhedralContactClipping.ClipFaceAgainstHull(sepNormalWorldSpace, polyhedronA.GetConvexPolyhedron(),
body0.GetWorldTransform(), m_vertices, minDist - threshold, maxDist, resultOut);
}
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
return;
}
}
}
gjkPairDetector.GetClosestPoints(ref input, resultOut, dispatchInfo.getDebugDraw(), false);
#if USE_SEPDISTANCE_UTIL2
float sepDist = 0.f;
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
sepDist = gjkPairDetector.getCachedSeparatingDistance();
if (sepDist > MathUtil.SIMD_EPSILON)
{
sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
//now perturbe directions to get multiple contact points
}
}
#endif //USE_SEPDISTANCE_UTIL2
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
if (m_numPerturbationIterations > 0 && resultOut.GetPersistentManifold().GetNumContacts() < m_minimumPointsPerturbationThreshold)
{
IndexedVector3 v0, v1;
IndexedVector3 sepNormalWorldSpace = gjkPairDetector.GetCachedSeparatingAxis();
sepNormalWorldSpace.Normalize();
TransformUtil.PlaneSpace1(ref sepNormalWorldSpace, out v0, out v1);
bool perturbeA = true;
const float angleLimit = 0.125f * MathUtil.SIMD_PI;
float perturbeAngle;
float radiusA = min0.GetAngularMotionDisc();
float radiusB = min1.GetAngularMotionDisc();
if (radiusA < radiusB)
{
perturbeAngle = BulletGlobals.gContactBreakingThreshold / radiusA;
perturbeA = true;
}
else
{
perturbeAngle = BulletGlobals.gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if (perturbeAngle > angleLimit)
{
perturbeAngle = angleLimit;
}
IndexedMatrix unPerturbedTransform;
if (perturbeA)
{
unPerturbedTransform = input.m_transformA;
}
else
{
unPerturbedTransform = input.m_transformB;
}
for (int i = 0; i < m_numPerturbationIterations; i++)
{
if (v0.LengthSquared() > MathUtil.SIMD_EPSILON)
{
IndexedQuaternion perturbeRot = new IndexedQuaternion(v0, perturbeAngle);
float iterationAngle = i * (MathUtil.SIMD_2_PI / (float)m_numPerturbationIterations);
IndexedQuaternion rotq = new IndexedQuaternion(sepNormalWorldSpace, iterationAngle);
if (perturbeA)
{
input.m_transformA._basis = (new IndexedBasisMatrix(MathUtil.QuaternionInverse(rotq) * perturbeRot * rotq) * body0.GetWorldTransform()._basis);
input.m_transformB = body1.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
#if DEBUG_CONTACTS
dispatchInfo.m_debugDraw.DrawTransform(ref input.m_transformA, 10.0f);
#endif //DEBUG_CONTACTS
}
else
{
input.m_transformA = body0.GetWorldTransform();
input.m_transformB._basis = (new IndexedBasisMatrix(MathUtil.QuaternionInverse(rotq) * perturbeRot * rotq) * body1.GetWorldTransform()._basis);
#if DEBUG_CONTACTS
dispatchInfo.m_debugDraw.DrawTransform(ref input.m_transformB, 10.0f);
#endif
}
PerturbedContactResult perturbedResultOut = new PerturbedContactResult(resultOut, ref input.m_transformA, ref input.m_transformB, ref unPerturbedTransform, perturbeA, dispatchInfo.getDebugDraw());
gjkPairDetector.GetClosestPoints(ref input, perturbedResultOut, dispatchInfo.getDebugDraw(), false);
}
}
}
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist > MathUtil.SIMD_EPSILON))
{
m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(), sepDist, body0.getWorldTransform(), body1.getWorldTransform());
}
#endif //USE_SEPDISTANCE_UTIL2
}
}
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
}
public static void CollideTT(DbvtNode root0, DbvtNode root1, ICollide collideable)
{
CollideTTCount++;
Debug.Assert(CollideTTCount < 2);
CollideTTStack.Clear();
if (root0 != null && root1 != null)
{
int depth = 1;
int treshold = DOUBLE_STACKSIZE - 4;
CollideTTStack[0] = new sStkNN(root0, root1);
do
{
sStkNN p = CollideTTStack[--depth];
if (depth > treshold)
{
CollideTTStack.Resize(CollideTTStack.Count * 2);
treshold = CollideTTStack.Count - 4;
}
if (p.a == p.b)
{
if (p.a.IsInternal())
{
CollideTTStack[depth++] = new sStkNN(p.a._children[0], p.a._children[0]);
CollideTTStack[depth++] = new sStkNN(p.a._children[1], p.a._children[1]);
CollideTTStack[depth++] = new sStkNN(p.a._children[0], p.a._children[1]);
}
}
else if (DbvtAabbMm.Intersect(ref p.a.volume, ref p.b.volume))
{
if (p.a.IsInternal())
{
if (p.b.IsInternal())
{
CollideTTStack[depth++] = new sStkNN(p.a._children[0], p.b._children[0]);
CollideTTStack[depth++] = new sStkNN(p.a._children[1], p.b._children[0]);
CollideTTStack[depth++] = new sStkNN(p.a._children[0], p.b._children[1]);
CollideTTStack[depth++] = new sStkNN(p.a._children[1], p.b._children[1]);
}
else
{
CollideTTStack[depth++] = new sStkNN(p.a._children[0], p.b);
CollideTTStack[depth++] = new sStkNN(p.a._children[1], p.b);
}
}
else
{
if (p.b.IsInternal())
{
CollideTTStack[depth++] = new sStkNN(p.a, p.b._children[0]);
CollideTTStack[depth++] = new sStkNN(p.a, p.b._children[1]);
}
else
{
collideable.Process(p.a, p.b);
}
}
}
} while (depth > 0);
}
CollideTTCount--;
}
public static void ClipFaceAgainstHull(ref IndexedVector3 separatingNormal, ConvexPolyhedron hullA, ref IndexedMatrix transA, ObjectArray <IndexedVector3> worldVertsB1, float minDist, float maxDist, IDiscreteCollisionDetectorInterfaceResult resultOut)
{
ObjectArray <IndexedVector3> worldVertsB2 = new ObjectArray <IndexedVector3>();
ObjectArray <IndexedVector3> pVtxIn = worldVertsB1;
ObjectArray <IndexedVector3> pVtxOut = worldVertsB2;
pVtxOut.Capacity = pVtxIn.Count;
int closestFaceA = -1;
{
float dmin = float.MaxValue;
for (int face = 0; face < hullA.m_faces.Count; face++)
{
IndexedVector3 Normal = new IndexedVector3(hullA.m_faces[face].m_plane[0], hullA.m_faces[face].m_plane[1], hullA.m_faces[face].m_plane[2]);
IndexedVector3 faceANormalWS = transA._basis * Normal;
float d = IndexedVector3.Dot(faceANormalWS, separatingNormal);
if (d < dmin)
{
dmin = d;
closestFaceA = face;
}
}
}
if (closestFaceA < 0)
{
return;
}
Face polyA = hullA.m_faces[closestFaceA];
// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
int numContacts = pVtxIn.Count;
int numVerticesA = polyA.m_indices.Count;
for (int e0 = 0; e0 < numVerticesA; e0++)
{
IndexedVector3 a = hullA.m_vertices[polyA.m_indices[e0]];
IndexedVector3 b = hullA.m_vertices[polyA.m_indices[(e0 + 1) % numVerticesA]];
IndexedVector3 edge0 = a - b;
IndexedVector3 WorldEdge0 = transA._basis * edge0;
IndexedVector3 worldPlaneAnormal1 = transA._basis * new IndexedVector3(polyA.m_plane[0], polyA.m_plane[1], polyA.m_plane[2]);
IndexedVector3 planeNormalWS1 = -WorldEdge0.Cross(worldPlaneAnormal1);//.cross(WorldEdge0);
IndexedVector3 worldA1 = transA * a;
float planeEqWS1 = -worldA1.Dot(planeNormalWS1);
//int otherFace=0;
#if BLA1
int otherFace = polyA.m_connectedFaces[e0];
btVector3 localPlaneNormal(hullA.m_faces[otherFace].m_plane[0], hullA.m_faces[otherFace].m_plane[1], hullA.m_faces[otherFace].m_plane[2]);
btScalar localPlaneEq = hullA.m_faces[otherFace].m_plane[3];
btVector3 planeNormalWS = transA.getBasis() * localPlaneNormal;
btScalar planeEqWS = localPlaneEq - planeNormalWS.dot(transA.getOrigin());
#else
IndexedVector3 planeNormalWS = planeNormalWS1;
float planeEqWS = planeEqWS1;
#endif //clip face
ClipFace(pVtxIn, pVtxOut, ref planeNormalWS, planeEqWS);
//btSwap(pVtxIn,pVtxOut);
ObjectArray <IndexedVector3> temp = pVtxIn;
pVtxIn = pVtxOut;
pVtxOut = temp;
pVtxOut.Clear();
}
//#define ONLY_REPORT_DEEPEST_POINT
IndexedVector3 point;
// only keep points that are behind the witness face
{
IndexedVector3 localPlaneNormal = new IndexedVector3(polyA.m_plane[0], polyA.m_plane[1], polyA.m_plane[2]);
float localPlaneEq = polyA.m_plane[3];
IndexedVector3 planeNormalWS = transA._basis * localPlaneNormal;
float planeEqWS = localPlaneEq - IndexedVector3.Dot(planeNormalWS, transA._origin);
for (int i = 0; i < pVtxIn.Count; i++)
{
float depth = IndexedVector3.Dot(planeNormalWS, pVtxIn[i]) + planeEqWS;
if (depth <= minDist)
{
// printf("clamped: depth=%f to minDist=%f\n",depth,minDist);
depth = minDist;
}
if (depth <= maxDist && depth >= minDist)
{
IndexedVector3 point2 = pVtxIn[i];
#if ONLY_REPORT_DEEPEST_POINT
curMaxDist = depth;
#else
#if false
if (depth < -3)
{
printf("error in btPolyhedralContactClipping depth = %f\n", depth);
printf("likely wrong separatingNormal passed in\n");
}
#endif
resultOut.AddContactPoint(ref separatingNormal, ref point2, depth);
#endif
}
}
}
#if ONLY_REPORT_DEEPEST_POINT
if (curMaxDist < maxDist)
{
resultOut.AddContactPoint(ref separatingNormal, ref point, curMaxDist);
}
#endif //ONLY_REPORT_DEEPEST_POINT
}
/// process all triangles within the provided axis-aligned bounding box
/**
basic algorithm:
- convert input aabb to local coordinates (scale down and shift for local origin)
- convert input aabb to a range of heightfield grid points (quantize)
- iterate over all triangles in that subset of the grid
*/
public override void ProcessAllTriangles(ITriangleCallback callback, ref Vector3 aabbMin, ref Vector3 aabbMax)
{
// scale down the input aabb's so they are in local (non-scaled) coordinates
Vector3 invScale = new Vector3(1f, 1f, 1f);
invScale /= m_localScaling;
Vector3 localAabbMin = aabbMin * invScale;
Vector3 localAabbMax = aabbMax * invScale;
// account for local origin
localAabbMin += m_localOrigin;
localAabbMax += m_localOrigin;
//quantize the aabbMin and aabbMax, and adjust the start/end ranges
int[] quantizedAabbMin = new int[3];
int[] quantizedAabbMax = new int[3];
QuantizeWithClamp(quantizedAabbMin, ref localAabbMin, 0);
QuantizeWithClamp(quantizedAabbMax, ref localAabbMax, 1);
// expand the min/max quantized values
// this is to catch the case where the input aabb falls between grid points!
for (int i = 0; i < 3; ++i)
{
quantizedAabbMin[i]--;
quantizedAabbMax[i]++;
}
int startX = 0;
int endX = m_heightStickWidth - 1;
int startJ = 0;
int endJ = m_heightStickLength - 1;
switch (m_upAxis)
{
case 0:
{
if (quantizedAabbMin[1] > startX)
startX = quantizedAabbMin[1];
if (quantizedAabbMax[1] < endX)
endX = quantizedAabbMax[1];
if (quantizedAabbMin[2] > startJ)
startJ = quantizedAabbMin[2];
if (quantizedAabbMax[2] < endJ)
endJ = quantizedAabbMax[2];
break;
}
case 1:
{
if (quantizedAabbMin[0] > startX)
startX = quantizedAabbMin[0];
if (quantizedAabbMax[0] < endX)
endX = quantizedAabbMax[0];
if (quantizedAabbMin[2] > startJ)
startJ = quantizedAabbMin[2];
if (quantizedAabbMax[2] < endJ)
endJ = quantizedAabbMax[2];
break;
};
case 2:
{
if (quantizedAabbMin[0] > startX)
startX = quantizedAabbMin[0];
if (quantizedAabbMax[0] < endX)
endX = quantizedAabbMax[0];
if (quantizedAabbMin[1] > startJ)
startJ = quantizedAabbMin[1];
if (quantizedAabbMax[1] < endJ)
endJ = quantizedAabbMax[1];
break;
}
default:
{
//need to get valid m_upAxis
Debug.Assert(false);
break;
}
}
ObjectArray<Vector3> vertices = new ObjectArray<Vector3>();
Vector3[] tempVectors = new Vector3[3];
for (int j = startJ; j < endJ; j++)
{
for (int x = startX; x < endX; x++)
{
if (m_flipQuadEdges || (m_useDiamondSubdivision && (((j + x) & 1) > 0)))
{
//first triangle
GetVertex(x, j, ref tempVectors[0]);
GetVertex(x + 1, j, ref tempVectors[1]);
GetVertex(x + 1, j + 1, ref tempVectors[2]);
vertices.Clear();
for (int a = 0; a < tempVectors.Length; ++a)
{
vertices.Add(tempVectors[a]);
}
callback.ProcessTriangle(vertices, x, j);
//second triangle
GetVertex(x, j, ref tempVectors[0]);
GetVertex(x + 1, j + 1, ref tempVectors[1]);
GetVertex(x, j + 1, ref tempVectors[2]);
vertices.Clear();
for (int a = 0; a < tempVectors.Length; ++a)
{
vertices.Add(tempVectors[a]);
}
callback.ProcessTriangle(vertices, x, j);
}
else
{
//first triangle
GetVertex(x, j, ref tempVectors[0]);
GetVertex(x, j + 1, ref tempVectors[1]);
GetVertex(x + 1, j, ref tempVectors[2]);
vertices.Clear();
for (int a = 0; a < tempVectors.Length; ++a)
{
vertices.Add(tempVectors[a]);
}
callback.ProcessTriangle(vertices, x, j);
//second triangle
GetVertex(x + 1, j, ref tempVectors[0]);
GetVertex(x, j + 1, ref tempVectors[1]);
GetVertex(x + 1, j + 1, ref tempVectors[2]);
vertices.Clear();
for (int a = 0; a < tempVectors.Length; ++a)
{
vertices.Add(tempVectors[a]);
}
callback.ProcessTriangle(vertices, x, j);
}
}
}
}
public override void Cleanup()
{
base.Cleanup();
m_mesh_parts.Clear();
}
public void GetTrianglesIntersectingSphere(ref BoundingSphere sphere, Vector3?referenceNormalVector, float?maxAngle, List <MyTriangle_Vertex_Normals> retTriangles, int maxNeighbourTriangles)
{
var aabb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddSphere(ref sphere, ref aabb);
AABB gi_aabb = new AABB(ref aabb.Min, ref aabb.Max);
m_overlappedTriangles.Clear();
if (m_bvh.BoxQuery(ref gi_aabb, m_overlappedTriangles))
{
// temporary variable for storing tirngle boundingbox info
BoundingBox triangleBoundingBox = new BoundingBox();
for (int i = 0; i < m_overlappedTriangles.Count; i++)
{
var triangleIndex = m_overlappedTriangles[i];
// If we reached end of the buffer of neighbour triangles, we stop adding new ones. This is better behavior than throwing exception because of array overflow.
if (retTriangles.Count == maxNeighbourTriangles)
{
return;
}
m_model.GetTriangleBoundingBox(triangleIndex, ref triangleBoundingBox);
// First test intersection of triangleVertexes's bounding box with bounding sphere. And only if they overlap or intersect, do further intersection tests.
if (MyUtils.IsBoxIntersectingSphere(triangleBoundingBox, ref sphere) == true)
{
//if (m_triangleIndices[value] != ignoreTriangleWithIndex)
{
// See that we swaped vertex indices!!
MyTriangle_Vertexes triangle;
MyTriangle_Normals triangleNormals;
MyTriangle_Normals triangleBinormals;
MyTriangle_Normals triangleTangents;
MyTriangleVertexIndices triangleIndices = m_model.Triangles[triangleIndex];
m_model.GetVertex(triangleIndices.I0, triangleIndices.I2, triangleIndices.I1, out triangle.Vertex0, out triangle.Vertex1, out triangle.Vertex2);
/*
* triangle.Vertex0 = m_model.GetVertex(triangleIndices.I0);
* triangle.Vertex1 = m_model.GetVertex(triangleIndices.I2);
* triangle.Vertex2 = m_model.GetVertex(triangleIndices.I1);
*/
triangleNormals.Normal0 = m_model.GetVertexNormal(triangleIndices.I0);
triangleNormals.Normal1 = m_model.GetVertexNormal(triangleIndices.I2);
triangleNormals.Normal2 = m_model.GetVertexNormal(triangleIndices.I1);
if (MinerWars.AppCode.Game.Render.MyRenderConstants.RenderQualityProfile.ForwardRender)
{
triangleBinormals.Normal0 = triangleNormals.Normal0;
triangleBinormals.Normal1 = triangleNormals.Normal1;
triangleBinormals.Normal2 = triangleNormals.Normal2;
triangleTangents.Normal0 = triangleNormals.Normal0;
triangleTangents.Normal1 = triangleNormals.Normal1;
triangleTangents.Normal2 = triangleNormals.Normal2;
}
else
{
triangleBinormals.Normal0 = m_model.GetVertexBinormal(triangleIndices.I0);
triangleBinormals.Normal1 = m_model.GetVertexBinormal(triangleIndices.I2);
triangleBinormals.Normal2 = m_model.GetVertexBinormal(triangleIndices.I1);
triangleTangents.Normal0 = m_model.GetVertexTangent(triangleIndices.I0);
triangleTangents.Normal1 = m_model.GetVertexTangent(triangleIndices.I2);
triangleTangents.Normal2 = m_model.GetVertexTangent(triangleIndices.I1);
}
MyPlane trianglePlane = new MyPlane(ref triangle);
if (MyUtils.GetSphereTriangleIntersection(ref sphere, ref trianglePlane, ref triangle) != null)
{
Vector3 triangleNormal = MyUtils.GetNormalVectorFromTriangle(ref triangle);
if ((referenceNormalVector.HasValue == false) || (maxAngle.HasValue == false) ||
((MyUtils.GetAngleBetweenVectors(referenceNormalVector.Value, triangleNormal) <= maxAngle)))
{
MyTriangle_Vertex_Normals retTriangle;
retTriangle.Vertexes = triangle;
retTriangle.Normals = triangleNormals;
retTriangle.Binormals = triangleBinormals;
retTriangle.Tangents = triangleTangents;
retTriangles.Add(retTriangle);
}
}
}
}
}
}
}
public void GetTrianglesIntersectingSphere(ref BoundingSphereD sphere, Vector3?referenceNormalVector, float?maxAngle, List <MyTriangle_Vertex_Normals> retTriangles, int maxNeighbourTriangles)
{
var aabb = BoundingBox.CreateInvalid();
BoundingSphere sphereF = (BoundingSphere)sphere;
aabb.Include(ref sphereF);
AABB gi_aabb = new AABB(aabb.Min.ToBullet(), aabb.Max.ToBullet());
m_overlappedTriangles.Clear();
if (m_bvh.BoxQuery(ref gi_aabb, m_overlappedTriangles))
{
// temporary variable for storing tirngle boundingbox info
BoundingBox triangleBoundingBox = new BoundingBox();
for (int i = 0; i < m_overlappedTriangles.Count; i++)
{
var triangleIndex = m_overlappedTriangles[i];
// If we reached end of the buffer of neighbour triangles, we stop adding new ones. This is better behavior than throwing exception because of array overflow.
if (retTriangles.Count == maxNeighbourTriangles)
{
return;
}
m_model.GetTriangleBoundingBox(triangleIndex, ref triangleBoundingBox);
// First test intersection of triangleVertexes's bounding box with bounding sphere. And only if they overlap or intersect, do further intersection tests.
if (triangleBoundingBox.Intersects(ref sphere))
{
//if (m_triangleIndices[value] != ignoreTriangleWithIndex)
{
// See that we swaped vertex indices!!
MyTriangle_Vertexes triangle;
MyTriangle_Normals triangleNormals;
//MyTriangle_Normals triangleTangents;
MyTriangleVertexIndices triangleIndices = m_model.Triangles[triangleIndex];
m_model.GetVertex(triangleIndices.I0, triangleIndices.I2, triangleIndices.I1, out triangle.Vertex0, out triangle.Vertex1, out triangle.Vertex2);
/*
* triangle.Vertex0 = m_model.GetVertex(triangleIndices.I0);
* triangle.Vertex1 = m_model.GetVertex(triangleIndices.I2);
* triangle.Vertex2 = m_model.GetVertex(triangleIndices.I1);
*/
triangleNormals.Normal0 = m_model.GetVertexNormal(triangleIndices.I0);
triangleNormals.Normal1 = m_model.GetVertexNormal(triangleIndices.I2);
triangleNormals.Normal2 = m_model.GetVertexNormal(triangleIndices.I1);
PlaneD trianglePlane = new PlaneD(triangle.Vertex0, triangle.Vertex1, triangle.Vertex2);
if (MyUtils.GetSphereTriangleIntersection(ref sphere, ref trianglePlane, ref triangle) != null)
{
Vector3 triangleNormal = MyUtils.GetNormalVectorFromTriangle(ref triangle);
if ((referenceNormalVector.HasValue == false) || (maxAngle.HasValue == false) ||
((MyUtils.GetAngleBetweenVectors(referenceNormalVector.Value, triangleNormal) <= maxAngle)))
{
MyTriangle_Vertex_Normals retTriangle;
retTriangle.Vertices = triangle;
retTriangle.Normals = triangleNormals;
retTriangles.Add(retTriangle);
}
}
}
}
}
}
}
