public void CapsuleSphereCollision()
{
// r=1.5 at (0,8,0)
var sphere = SphereBody.Create(_simulation,
new Vector3(0, 8, 0),
1.5f);
// pointing straight up, should hit sphere
var capsule1 = CapsuleBody.Create(this._simulation,
new Vector3(0, 0, 0),
Quaternion.Identity,
1f,
6f);
// rotated 45deg, should miss sphere
var capsule2 = CapsuleBody.Create(this._simulation,
new Vector3(0, 0, 0),
Quaternion.CreateFromAxisAngle(Vector3.UnitX, (float)(0.125 * Math.Tau)),
1f,
6f);
// floating, rotated 90deg, should hit sphere
var capsule3 = CapsuleBody.Create(this._simulation,
new Vector3(8, 8, 0),
Quaternion.CreateFromAxisAngle(Vector3.UnitZ, (float)(0.25 * Math.Tau)),
1f,
6f);
Assert.IsTrue(PhysicsSimulation.CapsuleSphereCollision(capsule1, sphere));
Assert.IsFalse(PhysicsSimulation.CapsuleSphereCollision(capsule2, sphere));
Assert.IsTrue(PhysicsSimulation.CapsuleSphereCollision(capsule3, sphere));
}
/// <summary>
/// Adds a sphere physics body to the object.
/// </summary>
/// <param name="radius"></param>
/// <param name="name"></param>
public void SetProximityRadius(float radius, string name)
{
// Add an object and a sphere physics body.
// One game object/script may require multiple physics bodies.
var proximityObject = GameObject.Instantiate(GameObject.Zone);
var physics = proximityObject.AddComponent <PhysicsComponent>();
var physicsObject = SphereBody.Create(
this.GameObject.Zone.Simulation,
this.GameObject.Transform.Position,
radius);
physics.SetPhysics(physicsObject);
// Listen for players entering and leaving.
var playersInPhysicsObject = new List <Player>();
Listen(physics.OnEnter, (component) =>
{
if (!(component.GameObject is Player player))
{
return;
}
if (playersInPhysicsObject.Contains(player))
{
return;
}
playersInPhysicsObject.Add(player);
this.OnProximityUpdate(name, PhysicsCollisionStatus.Enter, player);
});
public void BoxSphereCollision()
{
// r=10 at (100,0,0)
var sphereFar = SphereBody.Create(_simulation,
new Vector3(100, 0, 0),
10f);
// r=4 at (7,0,0)
var sphereClose = SphereBody.Create(_simulation,
new Vector3(7, 0, 0),
4f);
// r=0.5 at (5,5,0)
var sphere2 = SphereBody.Create(_simulation,
new Vector3(5, 5, 0),
0.5f);
// r=0.5 at (6,0,0)
var sphere3 = SphereBody.Create(_simulation,
new Vector3(6, 0, 0),
0.5f);
// 10x10x10 at (0,0,0)
var boxAtZero = BoxBody.Create(_simulation,
new Vector3(0, 0, 0),
Quaternion.Identity,
Vector3.One * 10);
// No rotation
Assert.IsTrue(PhysicsSimulation.BoxSphereCollision(boxAtZero, sphereClose));
Assert.IsFalse(PhysicsSimulation.BoxSphereCollision(boxAtZero, sphereFar));
Assert.IsTrue(PhysicsSimulation.BoxSphereCollision(boxAtZero, sphere2));
Assert.IsFalse(PhysicsSimulation.BoxSphereCollision(boxAtZero, sphere3));
// Rotate box by 45deg around Z axis. Should now miss small sphere at (5,5,0) and hit small sphere at (6,0,0)
var boxAtZeroRotated = BoxBody.Create(_simulation,
new Vector3(0, 0, 0),
Quaternion.CreateFromAxisAngle(Vector3.UnitZ, (float)Math.Tau / 8),
Vector3.One * 10);
Assert.IsFalse(PhysicsSimulation.BoxSphereCollision(boxAtZeroRotated, sphere2));
Assert.IsTrue(PhysicsSimulation.BoxSphereCollision(boxAtZeroRotated, sphere3));
}
public void SphereSphereCollision()
{
// r=10 at (0,0,0)
var sphereAtZero = SphereBody.Create(_simulation, new Vector3(0, 0, 0),
10f);
// r=10 at (100,0,0)
var sphereFar = SphereBody.Create(_simulation,
new Vector3(100, 0, 0),
10f);
// r=4 at (11,0,0)
var sphereClose = SphereBody.Create(_simulation,
new Vector3(11, 0, 0),
4f);
Assert.IsFalse(PhysicsSimulation.SphereSphereCollision(sphereAtZero, sphereFar));
Assert.IsTrue(PhysicsSimulation.SphereSphereCollision(sphereAtZero, sphereClose));
}
override protected void OnLoad(System.EventArgs e)
{
lastMouseState = OpenTK.Input.Mouse.GetState();
Texture angrySquirrelTexture, angryTurtleTexture, angryDilloTexture;
Texture[] worldTextures;
Mesh squirrelMesh, turtleMesh, dilloMesh;
RectangleMesh[] worldMeshes;
float aspectRatio = ClientSize.Width / (float)(ClientSize.Height);
projectionMatrix.set(Matrix4.CreatePerspectiveFieldOfView((float)Math.PI / 4, aspectRatio, 1, 1000));
cameraOnFrame = delegate(Matrix4f mvMatrix) {
float radius = 40, y = 20, timeRatio = 0.5f;
Vector3 pos = new Vector3(
(float)Math.Sin(time.Value * timeRatio) * radius,
y,
(float)Math.Cos(time.Value * timeRatio) * radius);
mvMatrix.set(Matrix4.LookAt(pos, new Vector3(0, y * 0.5f * (1.5f + (float)Math.Sin(time.Value * timeRatio)), 0), new Vector3(0, 1, 0)));
};
cameraOnFrame(modelviewMatrix);
cameraOnFrame = null; // enable/disable
ambientColor.set(0.4f, 0.4f, 0.4f);
lightColor.set(1.0f, 1.0f, 1.0f);
lightDirUnit.set(0.5f, 1.0f, 0.5f);
//lightDirUnit.set( 0.1f, 5.0f, 0.1f );
lightDirUnit.normalize();
//texture = new Texture( "E:\\drop\\logo-dark.jpg" );
angrySquirrelTexture = new Texture("gfx/angry-squirrel.png");
angryTurtleTexture = new Texture("gfx/angry-turtle.png");
angryDilloTexture = new Texture("gfx/angry-armadillo.png");
worldTextures = new Texture[] {
new Texture("gfx/drzewka-1.png"),
new Texture("gfx/drzewka-3.png"),
new Texture("gfx/sky.png"),
new Texture("gfx/grass.png"),
new Texture("gfx/drzewka-2.png"),
new Texture("gfx/drzewka-4.png")
};
CreateShaders();
squirrelMesh = new SphereMesh(BALL_RADIUS, 20, 20, true);
squirrelMesh.Texture = angrySquirrelTexture;
/*
* squirrelMesh.UpdateAction = delegate( Mesh model ) {
* Matrix4f transform = model.Transform;
* transform.setScaleAndRotation( Matrix4.CreateRotationZ( time.Value ) );
* //transform.setTranslationY( BALL_RADIUS + JUMP_HEIGHT * 0.5f * (1 + (float) Math.Sin( time.Value )) ); // hover
* //transform.setTranslationY( BALL_RADIUS + JUMP_HEIGHT * (float) Math.Abs( Math.Sin( time.Value ) ) ); // hover
* };
* squirrelMesh.UpdateAction( squirrelMesh );
*/
//sm.writeOBJ();
meshes.Add(squirrelMesh);
turtleMesh = new SphereMesh(BALL_RADIUS * 5, 10, 10, true);
turtleMesh.Texture = angryTurtleTexture;
/*
* turtleMesh.UpdateAction = delegate( Mesh model ) {
* Matrix4f transform = model.Transform;
* transform.setScaleAndRotation( Matrix4.CreateRotationX( -time.Value ) );
* };
* turtleMesh.UpdateAction( turtleMesh );
*/
meshes.Add(turtleMesh);
dilloMesh = new SphereMesh(BALL_RADIUS * 2, 20, 20, true);
dilloMesh.Texture = angryDilloTexture;
/*
* dilloMesh.UpdateAction = delegate( Mesh model ) {
* Matrix4f transform = model.Transform;
* transform.setScaleAndRotation( Matrix4.CreateRotationX( -time.Value ) );
* };
* dilloMesh.UpdateAction( dilloMesh );
*/
meshes.Add(dilloMesh);
float boxX = 100, boxY = 50, boxZ = 100, shiftX = 0.5f * boxX, shiftY = 0.5f * boxY, shiftZ = 0.5f * boxZ;
worldMeshes = new RectangleMesh[] {
new RectangleMesh(Vector3f.OZ, boxX, boxY),
new RectangleMesh(Vector3f.OZ, boxX, -boxY),
new RectangleMesh(Vector3f.OY, boxX, boxZ),
new RectangleMesh(Vector3f.OY, -boxX, boxZ),
new RectangleMesh(Vector3f.OZ, -boxX, boxY),
new RectangleMesh(Vector3f.OZ, boxX, boxY)
};
for (int i = worldMeshes.Length - 1; i >= 0; i--)
{
Mesh m = worldMeshes[i];
m.Texture = worldTextures[i];
meshes.Add(m);
}
Matrix4f trans;
trans = worldMeshes[0].Transform;
trans.setZero();
trans.Data[2] = 1;
trans.Data[5] = 1;
trans.Data[8] = 1;
trans.Data[15] = 1;
trans.setTranslation(shiftX, shiftY, 0);
trans = worldMeshes[1].Transform;
trans.setZero();
trans.Data[2] = -1;
trans.Data[5] = -1;
trans.Data[8] = -1;
trans.Data[15] = 1;
worldMeshes[1].Transform.setTranslation(-shiftX, shiftY, 0);
worldMeshes[2].Transform.setTranslation(0, boxY, 0);
worldMeshes[3].Transform.setTranslation(0, 0, 0);
worldMeshes[4].Transform.setTranslation(0, shiftY, shiftZ);
worldMeshes[5].Transform.setTranslation(0, shiftY, -shiftZ);
foreach (Mesh m in meshes)
{
m.init();
}
//bodyManager.Gravity.setZero();
/*SphereBody*/
squirrelBody = new SphereBody(1, BALL_RADIUS);
squirrelBody.Transform.setTranslation(40, 40, 40);
squirrelBody.RotationSpeed = 1f;
/*SphereBody*/
turtleBody = new SphereBody(25, BALL_RADIUS * 5);
turtleBody.Transform.setTranslation(0, 20, 0);
//turtleBody.Velocity.Y = 5;
turtleBody.RotationSpeed = 1f;
/*SphereBody*/
dilloBody = new SphereBody(25, BALL_RADIUS * 2);
//dilloBody.Transform.setTranslation( -20, 100, -30 );
dilloBody.Transform.setTranslation(0, 30, 0);
//dilloBody.Velocity.Y = -5;
dilloBody.RotationSpeed = 1f;
Vector3f fixPoint = new Vector3f(0, 42, 9);
/*
* // spring - vertical harmonic oscillator
* dilloBody.Forces.Add( delegate( Body obj ) {
* Vector3f disp = obj.Transform.getDisplacement( fixPoint );
* float k = 20.0f;
* disp.scale( k );
* obj.applyForce( disp );
* } );
*/
// springy pendulum - 3D harmonic oscillator
dilloBody.Forces.Add(delegate(Body obj) {
Vector3f disp = obj.Transform.getDisplacement(fixPoint);
float k = 10.0f, l = 15.0f;
disp.scale(k * (disp.length() - l));
obj.applyForce(disp);
});
planeBodies = new PlaneBody[] {
new PlaneBody(new Plane3f(new Vector3f(0, 1, 0), 0)),
new PlaneBody(new Plane3f(new Vector3f(0, -1, 0), boxY)),
new PlaneBody(new Plane3f(new Vector3f(1, 0, 0), shiftX)),
new PlaneBody(new Plane3f(new Vector3f(-1, 0, 0), shiftX)),
new PlaneBody(new Plane3f(new Vector3f(0, 0, 1), shiftZ)),
new PlaneBody(new Plane3f(new Vector3f(0, 0, -1), shiftZ))
};
foreach (PlaneBody pb in planeBodies)
{
pb.Friction = 0.1f;
bodyManager.addBody(pb);
}
bodyManager.addBody(squirrelBody, squirrelMesh);
bodyManager.addBody(turtleBody, turtleMesh);
bodyManager.addBody(dilloBody, dilloMesh);
VSync = VSyncMode.On;
}
