public virtual void DoSelfCollision(CollisionDetectedHandler collision)
{
if (!selfCollision)
{
return;
}
JVector point, normal;
float penetration;
for (int i = 0; i < points.Count; i++)
{
queryList.Clear();
this.dynamicTree.Query(queryList, ref points[i].boundingBox);
for (int e = 0; e < queryList.Count; e++)
{
Triangle t = this.dynamicTree.GetUserData(queryList[e]);
if (!(t.VertexBody1 == points[i] || t.VertexBody2 == points[i] || t.VertexBody3 == points[i]))
{
if (XenoCollide.Detect(points[i].Shape, t, ref points[i].orientation,
ref JMatrix.InternalIdentity, ref points[i].position, ref JVector.InternalZero,
out point, out normal, out penetration))
{
int nearest = CollisionSystem.FindNearestTrianglePoint(this, queryList[e], ref point);
collision(points[i], points[nearest], point, point, normal, penetration);
}
}
}
}
}
public static JRigidbody[] OverlapMesh(Shape shape, Vector3 position, Quaternion rotation)
{
var list = new List <JRigidbody>();
JMatrix orientation = rotation.ConvertToJMatrix(), otherOrientation;
JVector pos = position.ConvertToJVector(), otherPosition, point, normal;
float penetration;
foreach (var body in Bodies)
{
if (body.Key.Shape is Multishape)
{
continue;
}
otherPosition = body.Key.Position;
otherOrientation = body.Key.Orientation;
bool collide = XenoCollide.Detect(shape, body.Key.Shape, ref orientation, ref otherOrientation,
ref pos, ref otherPosition, out point, out normal,
out penetration);
if (collide)
{
list.Add(body.Value);
}
}
return(list.ToArray());
}
void FixedUpdate()
{
if (IsTrigger)
{
JMatrix otherOrientation;
JVector otherPosition, point, normal;
float penetration;
foreach (var body in JPhysics.Bodies)
{
if (body.Key.Shape is Multishape)
{
continue;
}
otherPosition = body.Key.Position;
otherOrientation = body.Key.Orientation;
bool collide = XenoCollide.Detect(shape, body.Key.Shape, ref orientation, ref otherOrientation,
ref position, ref otherPosition, out point, out normal,
out penetration);
var i = new TriggerInfo
{
Body = body.Value,
Point = point,
Normal = normal,
Penetration = penetration
};
if (collide && !collidingBodies.ContainsKey(body.Key))
{
collidingBodies.Add(body.Key, body.Value);
if (TriggerEnter != null)
{
TriggerEnter(i);
}
}
else if (!collide && collidingBodies.ContainsKey(body.Key))
{
collidingBodies.Remove(body.Key);
if (TriggerExit != null)
{
TriggerExit(i);
}
}
else if (collide && collidingBodies.ContainsKey(body.Key))
{
if (TriggerStay != null)
{
TriggerStay(i);
}
}
}
}
}
private void PostStep(float timeStep)
{
foreach (RigidBody body in physics.World.RigidBodies)
{
if (body.Shape is Multishape)
{
continue; // no multishape support!
}
if (body.IsStaticOrInactive)
{
continue; // not interested in static bodies like terrain, and inactive objects don't change their trigger state
}
var collide = physics.World.CollisionSystem.CheckBoundingBoxes(physics.Body, body);
if (collide)
{
var otherPosition = body.Position;
var otherOrientation = body.Orientation;
var sensorOrientation = physics.Body.Orientation;
var sensorPosition = physics.Body.Position;
JVector point, normal;
float penetration;
collide = XenoCollide.Detect(physics.Body.Shape, body.Shape, ref sensorOrientation, ref otherOrientation,
ref sensorPosition, ref otherPosition, out point, out normal, out penetration);
if (collide && !CollidingBodies.Contains(body))
{
// okay, we detected a collision, but it's not already in the list!
CollidingBodies.Add(body);
if (TriggerEntered != null)
{
TriggerEntered(this, new SensorEventArgs(Entity.Find(body.Tag.ToString())));
}
}
}
if (!collide && CollidingBodies.Contains(body))
{
// okay, we detected no collisions, but is in the list!
CollidingBodies.Remove(body);
if (TriggerExited != null)
{
TriggerExited(this, new SensorEventArgs(Entity.Find(body.Tag.ToString())));
}
}
}
}
public static JCollision DetectCollision(RigidBody body1, RigidBody body2)
{
System.Diagnostics.Debug.Assert(body1 != body2, "body1 == body2");
var position1 = body1.Position;
var position2 = body2.Position;
var orientation1 = body1.Orientation;
var orientation2 = body2.Orientation;
JVector point;
JVector normal;
float penetration;
var collisionDetected = XenoCollide.Detect(body1.Shape, body2.Shape, ref orientation1, ref orientation2, ref position1, ref position2, out point, out normal, out penetration);
if (collisionDetected == false)
{
return(null);
}
return(new JCollision(body1, body2, point.ToVector3(), normal.ToVector3(), penetration));
}
public static IEnumerable <JCollision> DetectCollisions(RigidBody body)
{
var position1 = body.Position;
var orientation1 = body.Orientation;
foreach (RigidBody body2 in World.RigidBodies)
{
if (body == body2)
{
continue;
}
var position2 = body2.Position;
var orientation2 = body2.Orientation;
JVector point;
JVector normal;
float penetration;
var collisionDetected = XenoCollide.Detect(body.Shape, body2.Shape, ref orientation1, ref orientation2, ref position1, ref position2, out point, out normal, out penetration);
if (collisionDetected)
{
yield return(new JCollision(body, body2, point.ToVector3(), normal.ToVector3(), penetration));
}
}
}
protected override void Update(GameTime gameTime)
{
// Allows the game to exit
if (GamePad.GetState(PlayerIndex.One).Buttons.Back == ButtonState.Pressed)
{
this.Exit();
}
KeyboardState keys = Keyboard.GetState();
JVector moveVector = JVector.Zero;
float amountOfMovement = 0.05f;
if (keys.IsKeyDown(Keys.Right))
{
moveVector.X += amountOfMovement;
}
if (keys.IsKeyDown(Keys.Left))
{
moveVector.X -= amountOfMovement;
}
if (keys.IsKeyDown(Keys.Down))
{
moveVector.Y -= amountOfMovement;
}
if (keys.IsKeyDown(Keys.Up))
{
moveVector.Y += amountOfMovement;
}
body1.Position += moveVector;
body1.Orientation += 0.001f;
body2.Orientation -= 0.001f;
JMatrix o1 = JMatrix.CreateRotationZ(body1.Orientation);
JMatrix o2 = JMatrix.CreateRotationZ(body2.Orientation);
JVector pos1 = body1.Position;
JVector pos2 = body2.Position;
JVector point2;
sw.Start();
hit = XenoCollide.Detect(body1.Shape, body2.Shape, ref o1, ref o2, ref pos1, ref pos2, out point, out normal, out penetration);
sw.Stop();
ticks = sw.ElapsedTicks;
sw.Reset();
DebugDrawer.DrawLine(point, point + normal);
//DebugDrawer.DrawPoint(point2);
DebugDrawer.DrawPoint(point);
DebugDrawer.Color = Color.Red;
DebugDrawer.Color = Color.Black;
DebugDrawer.DrawLine(JVector.Up, JVector.Down);
DebugDrawer.DrawLine(JVector.Left, JVector.Right);
body1.DebugDraw(DebugDrawer);
body2.DebugDraw(DebugDrawer);
if (hit)
{
var oldPosition = body1.Position;
body1.Position += normal;
body1.DebugDraw(DebugDrawer);
body1.Position = oldPosition;
}
base.Update(gameTime);
}
