/// <summary>
/// CollDetect
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule0 = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
Capsule newCapsule0 = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;
Segment oldSeg0 = new Segment(oldCapsule0.Position, oldCapsule0.Length * oldCapsule0.Orientation.Backward());
Segment newSeg0 = new Segment(newCapsule0.Position, newCapsule0.Length * newCapsule0.Orientation.Backward());
Capsule oldCapsule1 = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Capsule;
Capsule newCapsule1 = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Capsule;
Segment oldSeg1 = new Segment(oldCapsule1.Position, oldCapsule1.Length * oldCapsule1.Orientation.Backward());
Segment newSeg1 = new Segment(newCapsule1.Position, newCapsule1.Length * newCapsule1.Orientation.Backward());
float radSum = newCapsule0.Radius + newCapsule1.Radius;
float oldt0, oldt1;
float newt0, newt1;
float oldDistSq = Distance.SegmentSegmentDistanceSq(out oldt0, out oldt1, oldSeg0, oldSeg1);
float newDistSq = Distance.SegmentSegmentDistanceSq(out newt0, out newt1, newSeg0, newSeg1);
if (System.Math.Min(oldDistSq, newDistSq) < ((radSum + collTolerance) * (radSum + collTolerance)))
{
Vector3 pos0 = oldSeg0.GetPoint(oldt0);
Vector3 pos1 = oldSeg1.GetPoint(oldt1);
Vector3 delta = pos0 - pos1;
float dist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radSum - dist;
if (dist > JiggleMath.Epsilon)
{
delta /= dist;
}
else
{
// todo - make this not random
delta = Vector3Extensions.TransformNormal(Vector3Extensions.Backward, Matrix4.CreateFromAxisAngle(Vector3Extensions.Up, OpenTKHelper.ToRadians(random.Next(360))));
}
Vector3 worldPos = pos1 +
(oldCapsule1.Radius - 0.5f * depth) * delta;
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref delta, &collInfo, 1);
}
}
}
/// <summary>
/// Initialise
/// </summary>
/// <param name="body0"></param>
/// <param name="body1"></param>
/// <param name="hingeAxis"></param>
/// <param name="hingePosRel0"></param>
/// <param name="hingeHalfWidth"></param>
/// <param name="hingeFwdAngle"></param>
/// <param name="hingeBckAngle"></param>
/// <param name="sidewaysSlack"></param>
/// <param name="damping"></param>
public void Initialise(Body body0, Body body1, Vector3 hingeAxis, Vector3 hingePosRel0,
float hingeHalfWidth, float hingeFwdAngle, float hingeBckAngle, float sidewaysSlack, float damping)
{
this.body0 = body0;
this.body1 = body1;
this.hingeAxis = hingeAxis;
this.hingePosRel0 = hingePosRel0;
this.usingLimit = false;
this.damping = damping;
// tScalar allowedDistance = 0.005f;
this.hingeAxis.Normalize();
Vector3 hingePosRel1 = body0.Position + hingePosRel0 - body1.Position;
// generate the two positions relative to each body
Vector3 relPos0a = hingePosRel0 + hingeHalfWidth * hingeAxis;
Vector3 relPos0b = hingePosRel0 - hingeHalfWidth * hingeAxis;
Vector3 relPos1a = hingePosRel1 + hingeHalfWidth * hingeAxis;
Vector3 relPos1b = hingePosRel1 - hingeHalfWidth * hingeAxis;
float timescale = 1.0f / 20.0f;
float allowedDistanceMid = 0.005f;
float allowedDistanceSide = sidewaysSlack * hingeHalfWidth;
mSidePointConstraints = new ConstraintMaxDistance[2];
mSidePointConstraints[0] = new ConstraintMaxDistance();
mSidePointConstraints[1] = new ConstraintMaxDistance();
mSidePointConstraints[0].Initialise(body0, relPos0a, body1, relPos1a, allowedDistanceSide);
mSidePointConstraints[1].Initialise(body0, relPos0b, body1, relPos1b, allowedDistanceSide);
mMidPointConstraint = new ConstraintPoint();
mMidPointConstraint.Initialise(body0, hingePosRel0, body1, hingePosRel1, allowedDistanceMid, timescale);
if (hingeFwdAngle <= 150) // MAX_HINGE_ANGLE_LIMIT
{
// choose a direction that is perpendicular to the hinge
Vector3 perpDir = Vector3Extensions.Up;
if (Vector3.Dot(perpDir, hingeAxis) > 0.1f)
{
perpDir = Vector3Extensions.Right;
}
// now make it perpendicular to the hinge
Vector3 sideAxis = Vector3.Cross(hingeAxis, perpDir);
perpDir = Vector3.Cross(sideAxis, hingeAxis);
perpDir.Normalize();
// the length of the "arm" TODO take this as a parameter? what's
// the effect of changing it?
float len = 10.0f * hingeHalfWidth;
// Choose a position using that dir. this will be the anchor point
// for body 0. relative to hinge
Vector3 hingeRelAnchorPos0 = perpDir * len;
// anchor point for body 2 is chosen to be in the middle of the
// angle range. relative to hinge
float angleToMiddle = 0.5f * (hingeFwdAngle - hingeBckAngle);
Vector3 hingeRelAnchorPos1 = Vector3Extensions.TransformNormal(hingeRelAnchorPos0, Matrix4.CreateFromAxisAngle(hingeAxis, OpenTKHelper.ToRadians(-angleToMiddle)));
// work out the "string" length
float hingeHalfAngle = 0.5f * (hingeFwdAngle + hingeBckAngle);
float allowedDistance = len * 2.0f * (float)System.Math.Sin(OpenTKHelper.ToRadians(hingeHalfAngle * 0.5f));
Vector3 hingePos = body1.Position + hingePosRel0;
Vector3 relPos0c = hingePos + hingeRelAnchorPos0 - body0.Position;
Vector3 relPos1c = hingePos + hingeRelAnchorPos1 - body1.Position;
mMaxDistanceConstraint = new ConstraintMaxDistance();
mMaxDistanceConstraint.Initialise(body0, relPos0c, body1, relPos1c, allowedDistance);
usingLimit = true;
}
if (damping <= 0.0f)
{
damping = -1.0f; // just make sure that a value of 0.0 doesn't mess up...
}
else
{
damping = OpenTKHelper.Clamp(damping, 0, 1);
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
// get the skins in the order that we're expectiing
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
Capsule newCapsule = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;
Segment oldSeg = new Segment(oldCapsule.Position, oldCapsule.Length * oldCapsule.Orientation.Backward());
Segment newSeg = new Segment(newCapsule.Position, newCapsule.Length * newCapsule.Orientation.Backward());
float radius = oldCapsule.Radius;
Box oldBox = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Box;
Box newBox = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Box;
float oldSegT;
float oldBoxT0, oldBoxT1, oldBoxT2;
float oldDistSq = Distance.SegmentBoxDistanceSq(out oldSegT, out oldBoxT0, out oldBoxT1, out oldBoxT2, oldSeg, oldBox);
float newSegT;
float newBoxT0, newBoxT1, newBoxT2;
float newDistSq = Distance.SegmentBoxDistanceSq(out newSegT, out newBoxT0, out newBoxT1, out newBoxT2, newSeg, newBox);
if (OpenTKHelper.Min(oldDistSq, newDistSq) < ((radius + collTolerance) * (radius + collTolerance)))
{
Vector3 segPos = oldSeg.GetPoint(oldSegT);
Vector3 boxPos = oldBox.GetCentre() + oldBoxT0 * oldBox.Orientation.Right() +
oldBoxT1 * oldBox.Orientation.Up() + oldBoxT2 * oldBox.Orientation.Backward();
float dist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radius - dist;
Vector3 dir;
if (dist > JiggleMath.Epsilon)
{
dir = segPos - boxPos;
JiggleMath.NormalizeSafe(ref dir);
}
else if ((segPos - oldBox.GetCentre()).LengthSquared > JiggleMath.Epsilon)
{
dir = segPos - oldBox.GetCentre();
JiggleMath.NormalizeSafe(ref dir);
}
else
{
// todo - make this not random
dir = Vector3.Transform(Vector3Extensions.Backward, Matrix4.CreateFromAxisAngle(Vector3Extensions.Up, OpenTKHelper.ToRadians(random.Next(360))));
}
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(boxPos - body0Pos, boxPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref dir, &collInfo, 1);
}
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
CollDetectInfo info = infoOrig;
// get the skins in the order that we're expecting
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;
Capsule oldCapsule = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Capsule;
Capsule newCapsule = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Capsule;
Segment oldSeg = new Segment(oldCapsule.Position, oldCapsule.Length * oldCapsule.Orientation.Backward());
Segment newSeg = new Segment(oldCapsule.Position, newCapsule.Length * newCapsule.Orientation.Backward());
float radSum = newCapsule.Radius + newSphere.Radius;
float oldt, newt;
float oldDistSq = Distance.PointSegmentDistanceSq(out oldt, oldSphere.Position, oldSeg);
float newDistSq = Distance.PointSegmentDistanceSq(out newt, newSphere.Position, newSeg);
if (OpenTKHelper.Min(oldDistSq, newDistSq) < (radSum + collTolerance) * (radSum + collTolerance))
{
Vector3 segPos = oldSeg.GetPoint(oldt);
Vector3 delta = oldSphere.Position - segPos;
float dist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radSum - dist;
if (dist > JiggleMath.Epsilon)
{
delta /= dist;
}
else
{
// todo - make this not random
delta = Vector3Extensions.TransformNormal(Vector3Extensions.Backward, Matrix4.CreateFromAxisAngle(Vector3Extensions.Up, OpenTKHelper.ToRadians(random.Next(360))));
}
Vector3 worldPos = segPos +
((oldCapsule.Radius - 0.5f * depth) * delta);
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos,
worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref delta, &collInfo, 1);
}
}
}
/// <summary>
/// Update stuff at the end of physics
/// </summary>
/// <param name="dt"></param>
public void PostPhysics(float dt)
{
for (int i = 0; i < wheels.Count; i++)
{
wheels[i].Update(dt);
}
// control inputs
float deltaAccelerate = dt * 4.0f;
float deltaSteering = dt * steerRate;
// update the actual values
float dAccelerate = destAccelerate - accelerate;
dAccelerate = OpenTKHelper.Clamp(dAccelerate, -deltaAccelerate, deltaAccelerate);
accelerate += dAccelerate;
float dSteering = destSteering - steering;
dSteering = OpenTKHelper.Clamp(dSteering, -deltaSteering, deltaSteering);
steering += dSteering;
// apply these inputs
float maxTorque = driveTorque;
if (fWDrive && bWDrive)
{
maxTorque *= 0.5f;
}
if (fWDrive)
{
wheels[(int)WheelId.WheelFL].AddTorque(maxTorque * accelerate);
wheels[(int)WheelId.WheelFR].AddTorque(maxTorque * accelerate);
}
if (bWDrive)
{
wheels[(int)WheelId.WheelBL].AddTorque(maxTorque * accelerate);
wheels[(int)WheelId.WheelBR].AddTorque(maxTorque * accelerate);
}
wheels[(int)WheelId.WheelBL].Lock = (hBrake > 0.5f);
wheels[(int)WheelId.WheelBR].Lock = (hBrake > 0.5f);
// steering angle applies to the inner wheel. The outer one needs to match it
int inner, outer;
if (steering > 0.0f)
{
inner = (int)WheelId.WheelFL;
outer = (int)WheelId.WheelFR;
}
else
{
inner = (int)WheelId.WheelFR;
outer = (int)WheelId.WheelFL;
}
float alpha = System.Math.Abs(maxSteerAngle * steering);
float angleSgn = steering > 0.0f ? 1.0f : -1.0f;
wheels[inner].SteerAngle = (angleSgn * alpha);
float beta;
if (alpha == 0.0f)
{
beta = alpha;
}
else
{
float dx = (wheels[(int)WheelId.WheelFR].Pos.X - wheels[(int)WheelId.WheelBR].Pos.X);
float dy = (wheels[(int)WheelId.WheelFL].Pos.Z - wheels[(int)WheelId.WheelFR].Pos.Z);
//beta = ATan2Deg(dy, dx + (dy / TanDeg(alpha)));
beta = (float)System.Math.Atan2(OpenTKHelper.ToRadians(dy), OpenTKHelper.ToRadians(dx + (dy / (float)System.Math.Tan(OpenTKHelper.ToRadians(alpha)))));
beta = OpenTKHelper.ToDegrees(beta);
}
wheels[outer].SteerAngle = (angleSgn * beta);
}
/// <summary>
/// Assumes dir is normalised. Angle is in degrees.
/// </summary>
/// <param name="ang"></param>
/// <param name="dir"></param>
/// <returns>Matrix4</returns>
public static Matrix4 RotationMatrix(float ang, Vector3 dir)
{
return(Matrix4.CreateFromAxisAngle(dir, OpenTKHelper.ToRadians(ang)));
}
/// <summary> // TODO teting testing testing ...
/// Adds the forces die to this wheel to the parent. Return value indicates if it's
/// on the ground.
/// </summary>
/// <param name="dt"></param>
public bool AddForcesToCar(float dt)
{
Vector3 force = Vector3.Zero;
lastDisplacement = displacement;
displacement = 0.0f;
Body carBody = car.Chassis.Body;
Vector3 worldPos = carBody.Position + Vector3Extensions.TransformNormal(pos, carBody.Orientation); // *mPos;
Vector3 worldAxis = Vector3Extensions.TransformNormal(axisUp, carBody.Orientation); // *mAxisUp;
//Vector3 wheelFwd = RotationMatrix(mSteerAngle, worldAxis) * carBody.Orientation.GetCol(0);
// OpenGl has differnet row/column order for matrixes than XNA has ..
Vector3 wheelFwd = Vector3Extensions.TransformNormal(carBody.Orientation.Right(), JiggleMath.RotationMatrix(steerAngle, worldAxis));
//Vector3 wheelFwd = RotationMatrix(mSteerAngle, worldAxis) * carBody.GetOrientation().GetCol(0);
Vector3 wheelUp = worldAxis;
Vector3 wheelLeft = Vector3.Cross(wheelUp, wheelFwd);
wheelLeft.Normalize();
wheelUp = Vector3.Cross(wheelFwd, wheelLeft);
// start of ray
float rayLen = 2.0f * radius + travel;
Vector3 wheelRayEnd = worldPos - radius * worldAxis;
Segment wheelRay = new Segment(wheelRayEnd + rayLen * worldAxis, -rayLen * worldAxis);
//Assert(PhysicsSystem.CurrentPhysicsSystem);
CollisionSystem collSystem = PhysicsSystem.CurrentPhysicsSystem.CollisionSystem;
//Assert(collSystem);
int numRaysUse = System.Math.Min(numRays, maxNumRays);
// adjust the start position of the ray - divide the wheel into numRays+2
// rays, but don't use the first/last.
float deltaFwd = (2.0f * radius) / (numRaysUse + 1);
float deltaFwdStart = deltaFwd;
lastOnFloor = false;
int bestIRay = 0;
int iRay;
for (iRay = 0; iRay < numRaysUse; ++iRay)
{
fracs[iRay] = float.MaxValue; //SCALAR_HUGE;
// work out the offset relative to the middle ray
float distFwd = (deltaFwdStart + iRay * deltaFwd) - radius;
//float zOffset = mRadius * (1.0f - CosDeg(90.0f * (distFwd / mRadius)));
float zOffset = radius * (1.0f - (float)System.Math.Cos(OpenTKHelper.ToRadians(90.0f * (distFwd / radius))));
segments[iRay] = wheelRay;
segments[iRay].Origin += distFwd * wheelFwd + zOffset * wheelUp;
if (collSystem.SegmentIntersect(out fracs[iRay], out otherSkins[iRay],
out groundPositions[iRay], out groundNormals[iRay], segments[iRay], pred))
{
lastOnFloor = true;
if (fracs[iRay] < fracs[bestIRay])
{
bestIRay = iRay;
}
}
}
if (!lastOnFloor)
{
return(false);
}
//Assert(bestIRay < numRays);
// use the best one
Vector3 groundPos = groundPositions[bestIRay];
float frac = fracs[bestIRay];
CollisionSkin otherSkin = otherSkins[bestIRay];
// const Vector3 groundNormal = (worldPos - segments[bestIRay].GetEnd()).NormaliseSafe();
// const Vector3 groundNormal = groundNormals[bestIRay];
Vector3 groundNormal = worldAxis;
if (numRaysUse > 1)
{
for (iRay = 0; iRay < numRaysUse; ++iRay)
{
if (fracs[iRay] <= 1.0f)
{
groundNormal += (1.0f - fracs[iRay]) * (worldPos - segments[iRay].GetEnd());
}
}
JiggleMath.NormalizeSafe(ref groundNormal);
}
else
{
groundNormal = groundNormals[bestIRay];
}
//Assert(otherSkin);
Body worldBody = otherSkin.Owner;
displacement = rayLen * (1.0f - frac);
displacement = OpenTKHelper.Clamp(displacement, 0, travel);
float displacementForceMag = displacement * spring;
// reduce force when suspension is par to ground
displacementForceMag *= Vector3.Dot(groundNormals[bestIRay], worldAxis);
// apply damping
float dampingForceMag = upSpeed * damping;
float totalForceMag = displacementForceMag + dampingForceMag;
if (totalForceMag < 0.0f)
{
totalForceMag = 0.0f;
}
Vector3 extraForce = totalForceMag * worldAxis;
force += extraForce;
// side-slip friction and drive force. Work out wheel- and floor-relative coordinate frame
Vector3 groundUp = groundNormal;
Vector3 groundLeft = Vector3.Cross(groundNormal, wheelFwd);
JiggleMath.NormalizeSafe(ref groundLeft);
Vector3 groundFwd = Vector3.Cross(groundLeft, groundUp);
Vector3 wheelPointVel = carBody.Velocity +
Vector3.Cross(carBody.AngularVelocity, Vector3Extensions.TransformNormal(pos, carBody.Orientation));// * mPos);
Vector3 rimVel = angVel * Vector3.Cross(wheelLeft, groundPos - worldPos);
wheelPointVel += rimVel;
// if sitting on another body then adjust for its velocity.
if (worldBody != null)
{
Vector3 worldVel = worldBody.Velocity +
Vector3.Cross(worldBody.AngularVelocity, groundPos - worldBody.Position);
wheelPointVel -= worldVel;
}
// sideways forces
float noslipVel = 0.2f;
float slipVel = 0.4f;
float slipFactor = 0.7f;
float smallVel = 3;
float friction = sideFriction;
float sideVel = Vector3.Dot(wheelPointVel, groundLeft);
if ((sideVel > slipVel) || (sideVel < -slipVel))
{
friction *= slipFactor;
}
else
if ((sideVel > noslipVel) || (sideVel < -noslipVel))
{
friction *= 1.0f - (1.0f - slipFactor) * (System.Math.Abs(sideVel) - noslipVel) / (slipVel - noslipVel);
}
if (sideVel < 0.0f)
{
friction *= -1.0f;
}
if (System.Math.Abs(sideVel) < smallVel)
{
friction *= System.Math.Abs(sideVel) / smallVel;
}
float sideForce = -friction * totalForceMag;
extraForce = sideForce * groundLeft;
force += extraForce;
// fwd/back forces
friction = fwdFriction;
float fwdVel = Vector3.Dot(wheelPointVel, groundFwd);
if ((fwdVel > slipVel) || (fwdVel < -slipVel))
{
friction *= slipFactor;
}
else
if ((fwdVel > noslipVel) || (fwdVel < -noslipVel))
{
friction *= 1.0f - (1.0f - slipFactor) * (System.Math.Abs(fwdVel) - noslipVel) / (slipVel - noslipVel);
}
if (fwdVel < 0.0f)
{
friction *= -1.0f;
}
if (System.Math.Abs(fwdVel) < smallVel)
{
friction *= System.Math.Abs(fwdVel) / smallVel;
}
float fwdForce = -friction * totalForceMag;
extraForce = fwdForce * groundFwd;
force += extraForce;
//if (!force.IsSensible())
//{
// TRACE_FILE_IF(ONCE_1)
// TRACE("Bad force in car wheel\n");
// return true;
//}
// fwd force also spins the wheel
Vector3 wheelCentreVel = carBody.Velocity +
Vector3.Cross(carBody.AngularVelocity, Vector3Extensions.TransformNormal(pos, carBody.Orientation));// * mPos);
angVelForGrip = Vector3.Dot(wheelCentreVel, groundFwd) / radius;
torque += -fwdForce * radius;
// add force to car
carBody.AddWorldForce(force, groundPos);
//if (float.IsNaN(force.X))
// while(true){}
//System.Diagnostics.Debug.WriteLine(force.ToString());
// add force to the world
if (worldBody != null && !worldBody.Immovable)
{
// todo get the position in the right place...
// also limit the velocity that this force can produce by looking at the
// mass/inertia of the other object
float maxOtherBodyAcc = 500.0f;
float maxOtherBodyForce = maxOtherBodyAcc * worldBody.Mass;
if (force.LengthSquared > (maxOtherBodyForce * maxOtherBodyForce))
{
force *= maxOtherBodyForce / force.Length;
}
worldBody.AddWorldForce(-force, groundPos);
}
return(true);
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere0 = (Sphere)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Sphere newSphere0 = (Sphere)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
Sphere oldSphere1 = (Sphere)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
Sphere newSphere1 = (Sphere)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
Vector3 oldDelta = oldSphere0.Position - oldSphere1.Position;
Vector3 newDelta = newSphere0.Position - oldSphere1.Position;
float oldDistSq = oldDelta.LengthSquared;
float newDistSq = newDelta.LengthSquared;
float radSum = newSphere0.Radius + newSphere1.Radius;
if (System.Math.Min(oldDistSq, newDistSq) < ((radSum + collTolerance) * (radSum + collTolerance)))
{
float oldDist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radSum - oldDist;
if (oldDist > JiggleMath.Epsilon)
{
oldDelta /= oldDist;
}
else
{
// TODO - make this not random...!
oldDelta = Vector3Extensions.TransformNormal(Vector3Extensions.Backward, Matrix4.CreateFromAxisAngle(Vector3Extensions.Up, OpenTKHelper.ToRadians(random.Next(360))));
}
Vector3 worldPos = oldSphere1.Position +
(oldSphere1.Radius - 0.5f * depth) * oldDelta;
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref oldDelta, &collInfo, 1);
}
}
}
