///<summary>
/// Cleans up the pair handler.
///</summary>
public override void CleanUp()
{
base.CleanUp();
triangle = null;
convex = null;
}
///<summary>
/// Cleans up the pair handler.
///</summary>
public override void CleanUp()
{
base.CleanUp();
terrain = null;
convex = null;
}
///<summary>
/// Cleans up the pair handler.
///</summary>
public override void CleanUp()
{
base.CleanUp();
convexA = null;
convexB = null;
}
///<summary>
/// Cleans up the pair handler.
///</summary>
public override void CleanUp()
{
base.CleanUp();
mesh = null;
convex = null;
}
///<summary>
/// Initializes the pair handler.
///</summary>
///<param name="entryA">First entry in the pair.</param>
///<param name="entryB">Second entry in the pair.</param>
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
mobileMesh = entryA as MobileMeshCollidable;
convex = entryB as ConvexCollidable;
if (mobileMesh == null || convex == null)
{
mobileMesh = entryB as MobileMeshCollidable;
convex = entryA as ConvexCollidable;
if (mobileMesh == null || convex == null)
throw new ArgumentException("Inappropriate types used to initialize pair.");
}
//Contact normal goes from A to B.
broadPhaseOverlap.entryA = convex;
broadPhaseOverlap.entryB = mobileMesh;
//It's possible that the convex does not have an entity if it is a proxy for a non-entity collidable.
//Similarly, the mesh could be a query object.
UpdateMaterialProperties(convex.entity != null ? convex.entity.material : null, mobileMesh.entity != null ? mobileMesh.entity.material : null);
base.Initialize(entryA, entryB);
}
///<summary>
/// Cleans up the pair handler.
///</summary>
public override void CleanUp()
{
base.CleanUp();
boxA = null;
boxB = null;
}
///<summary>
/// Initializes the pair handler.
///</summary>
///<param name="entryA">First entry in the pair.</param>
///<param name="entryB">Second entry in the pair.</param>
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
box = entryA as ConvexCollidable<BoxShape>;
sphere = entryB as ConvexCollidable<SphereShape>;
if (box == null || sphere == null)
{
box = entryB as ConvexCollidable<BoxShape>;
sphere = entryA as ConvexCollidable<SphereShape>;
if (box == null || sphere == null)
{
throw new Exception("Inappropriate types used to initialize pair.");
}
}
//Reorder the entries so that the guarantee that the normal points from A to B is satisfied.
broadPhaseOverlap.entryA = box;
broadPhaseOverlap.entryB = sphere;
base.Initialize(entryA, entryB);
}
///<summary>
/// Initializes the pair handler.
///</summary>
///<param name="entryA">First entry in the pair.</param>
///<param name="entryB">Second entry in the pair.</param>
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
terrain = entryA as Terrain;
convex = entryB as ConvexCollidable;
if (terrain == null || convex == null)
{
terrain = entryB as Terrain;
convex = entryA as ConvexCollidable;
if (terrain == null || convex == null)
throw new ArgumentException("Inappropriate types used to initialize pair.");
}
//Contact normal goes from A to B.
broadPhaseOverlap.entryA = convex;
broadPhaseOverlap.entryB = terrain;
UpdateMaterialProperties(convex.entity != null ? convex.entity.material : null, terrain.material);
base.Initialize(entryA, entryB);
}
///<summary>
/// Initializes the pair handler.
///</summary>
///<param name="entryA">First entry in the pair.</param>
///<param name="entryB">Second entry in the pair.</param>
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
instancedMesh = entryA as InstancedMesh;
convex = entryB as ConvexCollidable;
if (instancedMesh == null || convex == null)
{
instancedMesh = entryB as InstancedMesh;
convex = entryA as ConvexCollidable;
if (instancedMesh == null || convex == null)
throw new Exception("Inappropriate types used to initialize pair.");
}
//Contact normal goes from A to B.
broadPhaseOverlap.entryA = convex;
broadPhaseOverlap.entryB = instancedMesh;
UpdateMaterialProperties(convex.entity != null ? convex.entity.material : null, instancedMesh.material);
base.Initialize(entryA, entryB);
}
///<summary>
/// Cleans up the manifold.
///</summary>
public override void CleanUp()
{
box = null;
sphere = null;
previouslyColliding = false;
//We don't have to worry about losing a reference to our contact- we keep it local!
contacts.Clear();
}
///<summary>
/// Cleans up the pair tester.
///</summary>
public void CleanUp()
{
state = CollisionState.Separated;
previousState = CollisionState.Separated;
cachedSimplex = new CachedSimplex();
localSeparatingAxis = new Vector3();
collidableA = null;
collidableB = null;
}
public override void CleanUp()
{
base.CleanUp();
convex = null;
checkContainment = true;
}
/// <summary>
/// Constructs the query manager for a character.
/// </summary>
/// <param name="character">Character to manage queries for.</param>
public QueryManager(SphereCharacterController character)
{
this.character = character;
//We can share the real shape with the 'current' query object.
queryObject = new ConvexCollidable<SphereShape>(character.Body.CollisionInformation.Shape);
//Share the collision rules between the main body and its query objects. That way, the character's queries return valid results.
queryObject.CollisionRules = character.Body.CollisionInformation.CollisionRules;
SupportRayFilter = SupportRayFilterFunction;
}
float upStepMargin = .1f; //There's a little extra space above the maximum step height to start the obstruction and downcast test rays. Helps when a step is very close to the max step height.
#endregion Fields
#region Constructors
/// <summary>
/// Constructs a new step manager for a character.
/// </summary>
/// <param name="characterBody">The character's body.</param>
/// <param name="contactCategorizer">Contact categorizer used by the character.</param>
/// <param name="supportFinder">Support finder used by the character.</param>
/// <param name="queryManager">Query provider to use in checking for obstructions.</param>
/// <param name="horizontalMotionConstraint">Horizontal motion constraint used by the character. Source of 3d movement direction.</param>
public StepManager(Cylinder characterBody, CharacterContactCategorizer contactCategorizer, SupportFinder supportFinder, QueryManager queryManager, HorizontalMotionConstraint horizontalMotionConstraint)
{
this.characterBody = characterBody;
currentQueryObject = new ConvexCollidable<CylinderShape>(characterBody.CollisionInformation.Shape);
ContactCategorizer = contactCategorizer;
SupportFinder = supportFinder;
QueryManager = queryManager;
HorizontalMotionConstraint = horizontalMotionConstraint;
//The minimum step height is just barely above where the character would generally find the ground.
//This helps avoid excess tests.
minimumUpStepHeight = CollisionDetectionSettings.AllowedPenetration * 1.1f;// Math.Max(0, -.01f + character.Body.CollisionInformation.Shape.CollisionMargin * (1 - character.SupportFinder.sinMaximumSlope));
}
///<summary>
/// Initializes the pair handler.
///</summary>
///<param name="entryA">First entry in the pair.</param>
///<param name="entryB">Second entry in the pair.</param>
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
convexA = entryA as ConvexCollidable;
convexB = entryB as ConvexCollidable;
if (convexA == null || convexB == null)
{
throw new ArgumentException("Inappropriate types used to initialize pair.");
}
base.Initialize(entryA, entryB);
}
///<summary>
/// Initializes the pair handler.
///</summary>
///<param name="entryA">First entry in the pair.</param>
///<param name="entryB">Second entry in the pair.</param>
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
boxA = entryA as ConvexCollidable<BoxShape>;
boxB = entryB as ConvexCollidable<BoxShape>;
if (boxA == null || boxB == null)
{
throw new Exception("Inappropriate types used to initialize pair.");
}
base.Initialize(entryA, entryB);
}
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
base.Initialize(entryA, entryB);
convex = entryA as ConvexCollidable;
if (convex == null)
{
convex = entryB as ConvexCollidable;
if (convex == null)
{
throw new ArgumentException("Incorrect types passed to pair handler.");
}
}
}
/// <summary>
/// Constructs the query manager for a character.
/// </summary>
/// <param name="character">Character to manage queries for.</param>
public QueryManager(CharacterController character)
{
this.character = character;
//We can share the real shape with the 'current' query object.
currentQueryObject = new ConvexCollidable<CylinderShape>(character.Body.CollisionInformation.Shape);
standingQueryObject = new ConvexCollidable<CylinderShape>(new CylinderShape(character.StanceManager.StandingHeight, character.Body.Radius));
crouchingQueryObject = new ConvexCollidable<CylinderShape>(new CylinderShape(character.StanceManager.CrouchingHeight, character.Body.Radius));
//Share the collision rules between the main body and its query objects. That way, the character's queries return valid results.
currentQueryObject.CollisionRules = character.Body.CollisionInformation.CollisionRules;
standingQueryObject.CollisionRules = character.Body.CollisionInformation.CollisionRules;
crouchingQueryObject.CollisionRules = character.Body.CollisionInformation.CollisionRules;
SupportRayFilter = SupportRayFilterFunction;
}
///<summary>
/// Initializes the pair handler.
///</summary>
///<param name="entryA">First entry in the pair.</param>
///<param name="entryB">Second entry in the pair.</param>
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
sphereA = entryA as ConvexCollidable<SphereShape>;
sphereB = entryB as ConvexCollidable<SphereShape>;
if (sphereA == null || sphereB == null)
{
throw new ArgumentException("Inappropriate types used to initialize pair.");
}
base.Initialize(entryA, entryB);
}
///<summary>
/// Initializes the pair handler.
///</summary>
///<param name="entryA">First entry in the pair.</param>
///<param name="entryB">Second entry in the pair.</param>
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
triangle = entryA as ConvexCollidable<TriangleShape>;
convex = entryB as ConvexCollidable;
if (triangle == null || convex == null)
{
triangle = entryB as ConvexCollidable<TriangleShape>;
convex = entryA as ConvexCollidable;
if (triangle == null || convex == null)
throw new ArgumentException("Inappropriate types used to initialize pair.");
}
//Contact normal goes from A to B.
broadPhaseOverlap.entryA = convex;
broadPhaseOverlap.entryB = triangle;
base.Initialize(entryA, entryB);
}
/// <summary>
/// Constructs a stance manager for a character.
/// </summary>
/// <param name="characterBody">The character's body entity.</param>
/// <param name="crouchingHeight">Crouching height of the character.</param>
/// <param name="queryManager">Provider of queries used by the stance manager to test if it is okay to change stances.</param>
/// <param name="supportFinder">Support finder used by the character.</param>
public StanceManager(Cylinder characterBody, float crouchingHeight, QueryManager queryManager, SupportFinder supportFinder)
{
this.QueryManager = queryManager;
this.SupportFinder = supportFinder;
this.characterBody = characterBody;
standingHeight = characterBody.Height;
if (crouchingHeight < standingHeight)
this.crouchingHeight = StandingHeight * .7f;
else
throw new ArgumentException("Crouching height must be less than standing height.");
//We can share the real shape with the query objects.
currentQueryObject = new ConvexCollidable<CylinderShape>(characterBody.CollisionInformation.Shape);
standingQueryObject = new ConvexCollidable<CylinderShape>(new CylinderShape(StandingHeight, characterBody.Radius));
crouchingQueryObject = new ConvexCollidable<CylinderShape>(new CylinderShape(CrouchingHeight, characterBody.Radius));
//Share the collision rules between the main body and its query objects. That way, the character's queries return valid results.
currentQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
standingQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
crouchingQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
}
public override void CleanUp()
{
convex = null;
mesh = null;
for (int i = ActivePairs.Count - 1; i >= 0; --i)
{
ReturnPair(ActivePairs.Values[i]);
ActivePairs.Values[i].CleanUp();
}
ActivePairs.Clear();
ActivePairs.Dispose();
activePairsBackBuffer.Dispose();
base.CleanUp();
}
public override void Initialize(Collidable newCollidableA, Collidable newCollidableB)
{
convex = newCollidableA as ConvexCollidable;
mesh = newCollidableB as FullChunkObject;
if (convex == null || mesh == null)
{
convex = newCollidableB as ConvexCollidable;
mesh = newCollidableA as FullChunkObject;
if (convex == null || mesh == null)
{
throw new ArgumentException("Inappropriate types used to initialize contact manifold.");
}
}
ActivePairs = new QuickDictionary<Vector3i, GeneralConvexPairTester>(BufferPools<Vector3i>.Locking, BufferPools<GeneralConvexPairTester>.Locking, BufferPools<int>.Locking, 3);
activePairsBackBuffer = new QuickDictionary<Vector3i, GeneralConvexPairTester>(BufferPools<Vector3i>.Locking, BufferPools<GeneralConvexPairTester>.Locking, BufferPools<int>.Locking, 3);
}
///<summary>
/// Cleans up the pair handler.
///</summary>
public override void CleanUp()
{
base.CleanUp();
sphereA = null;
sphereB = null;
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public MutableStaticGroupTestDemo(DemosGame game)
: base(game)
{
//Creating a bunch of separate StaticMeshes or kinematic Entity objects for an environment can pollute the broad phase.
//This is because the broad phase implementation doesn't have guarantees about what elements can collide, so it has to
//traverse the acceleration structure all the way down to pairs to figure it out. That can get expensive!
//Individual objects, like StaticMeshes, can have very complicated geometry without hurting the broad phase because the broad phase
//has no knowledge of the thousands of triangles in the mesh. The StaticMesh itself knows that the triangles within the mesh
//never need to collide, so it never needs to test them against each other.
//Similarly, the StaticGroup can be given a bunch of separate collidables. The broad phase doesn't directly know about these child collidables-
//it only sees the StaticGroup. The StaticGroup knows that the things inside it can't ever collide with each other, so no tests are needed.
//This avoids the performance problem!
//To demonstrate, we'll be creating a set of static objects and giving them to a group to manage.
var collidables = new List<Collidable>();
//Start with a whole bunch of boxes. These are entity collidables, but without entities!
float xSpacing = 6;
float ySpacing = 6;
float zSpacing = 6;
//NOTE: You might notice this demo takes a while to start, especially on the Xbox360. Do not fear! That's due to the creation of the graphics data, not the physics.
//The physics can handle over 100,000 static objects pretty easily. The graphics, not so much :)
//Try disabling the game.ModelDrawer.Add() lines and increasing the number of static objects.
int xCount = 15;
int yCount = 7;
int zCount = 15;
var random = new Random(5);
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
for (int k = 0; k < zCount; k++)
{
//Create a transform and the instance of the mesh.
var collidable = new ConvexCollidable<BoxShape>(new BoxShape((float)random.NextDouble() * 6 + .5f, (float)random.NextDouble() * 6 + .5f, (float)random.NextDouble() * 6 + .5f));
//This EntityCollidable isn't associated with an entity, so we must manually tell it where to sit by setting the WorldTransform.
//This also updates its bounding box.
collidable.WorldTransform = new RigidTransform(
new Vector3(i * xSpacing - xCount * xSpacing * .5f, j * ySpacing + 3, k * zSpacing - zCount * zSpacing * .5f),
Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble())), (float)random.NextDouble() * 100));
collidables.Add(collidable);
}
}
}
//Now create a bunch of instanced meshes too.
xSpacing = 6;
ySpacing = 6;
zSpacing = 6;
xCount = 10;
yCount = 2;
zCount = 10;
Vector3[] vertices;
int[] indices;
ModelDataExtractor.GetVerticesAndIndicesFromModel(game.Content.Load<Model>("fish"), out vertices, out indices);
var meshShape = new InstancedMeshShape(vertices, indices);
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
for (int k = 0; k < zCount; k++)
{
//Create a transform and the instance of the mesh.
var transform = new AffineTransform(
new Vector3((float)random.NextDouble() * 6 + .5f, (float)random.NextDouble() * 6 + .5f, (float)random.NextDouble() * 6 + .5f),
Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble())), (float)random.NextDouble() * 100),
new Vector3(i * xSpacing - xCount * xSpacing * .5f, j * ySpacing + 50, k * zSpacing - zCount * zSpacing * .5f));
var mesh = new InstancedMesh(meshShape, transform);
//Making the triangles one-sided makes collision detection a bit more robust, since the backsides of triangles won't try to collide with things
//and 'pull' them back into the mesh.
mesh.Sidedness = TriangleSidedness.Counterclockwise;
collidables.Add(mesh);
}
}
}
var ground = new ConvexCollidable<BoxShape>(new BoxShape(200, 1, 200));
ground.WorldTransform = new RigidTransform(new Vector3(0, -3, 0), Quaternion.Identity);
collidables.Add(ground);
var group = new StaticGroup(collidables);
var removed = new RawList<Collidable>();
var contained = new RawList<Collidable>();
group.Shape.CollidableTree.CollectLeaves(contained);
for (int i = 0; i < 100000; ++i)
{
for (int collidableIndex = contained.Count - 1; collidableIndex >= 0; --collidableIndex)
{
if (random.NextDouble() < 0.6)
{
group.Shape.Remove(contained[collidableIndex]);
removed.Add(contained[collidableIndex]);
contained.FastRemoveAt(collidableIndex);
}
}
for (int collidableIndex = removed.Count - 1; collidableIndex >= 0; --collidableIndex)
{
if (random.NextDouble() < 0.4)
{
group.Shape.Add(removed[collidableIndex]);
contained.Add(removed[collidableIndex]);
removed.FastRemoveAt(collidableIndex);
}
}
}
for (int i = 0; i < contained.Count; ++i)
{
game.ModelDrawer.Add(contained[i]);
}
Space.Add(group);
//Create a bunch of dynamic boxes to drop on the staticswarm.
xCount = 8;
yCount = 3;
zCount = 8;
xSpacing = 3f;
ySpacing = 5f;
zSpacing = 3f;
for (int i = 0; i < xCount; i++)
for (int j = 0; j < zCount; j++)
for (int k = 0; k < yCount; k++)
{
Space.Add(new Box(new Vector3(
xSpacing * i - (xCount - 1) * xSpacing / 2f,
100 + k * (ySpacing),
2 + zSpacing * j - (zCount - 1) * zSpacing / 2f),
1, 1, 1, 10));
}
game.Camera.Position = new Vector3(0, 60, 90);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public CharacterStressierTestDemo(DemosGame game)
: base(game)
{
//Load in mesh data and create the group.
Vector3[] staticTriangleVertices;
int[] staticTriangleIndices;
var playgroundModel = game.Content.Load<Model>("playground");
//This is a little convenience method used to extract vertices and indices from a model.
//It doesn't do anything special; any approach that gets valid vertices and indices will work.
ModelDataExtractor.GetVerticesAndIndicesFromModel(playgroundModel, out staticTriangleVertices, out staticTriangleIndices);
var meshShape = new InstancedMeshShape(staticTriangleVertices, staticTriangleIndices);
var meshes = new List<Collidable>();
var xSpacing = 400;
var ySpacing = 400;
var xCount = 11;
var yCount = 11;
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
var staticMesh = new InstancedMesh(meshShape, new AffineTransform(Matrix3x3.Identity, new Vector3(-xSpacing * (xCount - 1) / 2 + i * xSpacing, 0, -ySpacing * (yCount - 1) / 2 + j * ySpacing)));
staticMesh.Sidedness = TriangleSidedness.Counterclockwise;
Space.Add(staticMesh);
//meshes.Add(staticMesh);
game.ModelDrawer.Add(staticMesh);
}
}
//var group = new StaticGroup(meshes);
//Space.Add(group);
//To demonstrate, we'll be creating a set of static objects and giving them to a group to manage.
var collidables = new List<Collidable>();
//Start with a whole bunch of boxes. These are entity collidables, but without entities!
xSpacing = 25;
ySpacing = 16;
float zSpacing = 25;
xCount = 25;
yCount = 7;
int zCount = 25;
var random = new Random();
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
for (int k = 0; k < zCount; k++)
{
//Create a transform and the instance of the mesh.
var collidable = new ConvexCollidable<BoxShape>(new BoxShape((float)random.NextDouble() * 25 + 5.5f, (float)random.NextDouble() * 25 + 5.5f, (float)random.NextDouble() * 25 + 5.5f));
//This EntityCollidable isn't associated with an entity, so we must manually tell it where to sit by setting the WorldTransform.
//This also updates its bounding box.
collidable.WorldTransform = new RigidTransform(
new Vector3(i * xSpacing - xCount * xSpacing * .5f, j * ySpacing + -50, k * zSpacing - zCount * zSpacing * .5f),
Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble())), (float)random.NextDouble() * 100));
collidables.Add(collidable);
game.ModelDrawer.Add(collidable);
}
}
}
var group = new StaticGroup(collidables);
Space.Add(group);
//Now drop the characters on it!
var numColumns = 16;
var numRows = 16;
var numHigh = 16;
float separation = 24;
for (int i = 0; i < numRows; i++)
for (int j = 0; j < numColumns; j++)
for (int k = 0; k < numHigh; k++)
{
var character = new CharacterController();
character.Body.Position =
new Vector3(
separation * i - numRows * separation / 2,
50f + k * separation,
separation * j - numColumns * separation / 2);
characters.Add(character);
Space.Add(character);
}
game.Camera.Position = new Vector3(0, 10, 40);
//Dump some boxes on top of the characters for fun.
numColumns = 16;
numRows = 16;
numHigh = 8;
separation = 24;
for (int i = 0; i < numRows; i++)
for (int j = 0; j < numColumns; j++)
for (int k = 0; k < numHigh; k++)
{
var toAdd = new Box(
new Vector3(
separation * i - numRows * separation / 2,
52f + k * separation,
separation * j - numColumns * separation / 2),
0.8f, 0.8f, 0.8f, 15);
toAdd.PositionUpdateMode = BEPUphysics.PositionUpdating.PositionUpdateMode.Continuous;
Space.Add(toAdd);
}
}
CharacterContactPositionState TrySupportLocation(ConvexCollidable<CylinderShape> queryObject, ref Vector3 position, out float hintOffset,
ref QuickList<CharacterContact> tractionContacts, ref QuickList<CharacterContact> supportContacts, ref QuickList<CharacterContact> sideContacts, ref QuickList<CharacterContact> headContacts)
{
hintOffset = 0;
PrepareQueryObject(queryObject, ref position);
QueryManager.QueryContacts(queryObject, ref tractionContacts, ref supportContacts, ref sideContacts, ref headContacts);
bool obstructed = IsObstructed(ref sideContacts, ref headContacts);
if (obstructed)
{
return CharacterContactPositionState.Obstructed;
}
if (supportContacts.Count > 0)
{
CharacterContactPositionState supportState;
CharacterContact supportContact;
QueryManager.AnalyzeSupportState(ref tractionContacts, ref supportContacts, out supportState, out supportContact);
var down = characterBody.orientationMatrix.Down;
//Note that traction is not tested for; it isn't important for the stance manager.
if (supportState == CharacterContactPositionState.Accepted)
{
//We're done! The guess found a good spot to stand on.
//We need to have fairly good contacts after this process, so only push it up a bit.
hintOffset = Math.Min(0, Vector3.Dot(supportContact.Contact.Normal, down) * (CollisionDetectionSettings.AllowedPenetration * .5f - supportContact.Contact.PenetrationDepth));
return CharacterContactPositionState.Accepted;
}
else if (supportState == CharacterContactPositionState.TooDeep)
{
//Looks like we have to keep trying, but at least we found a good hint.
hintOffset = Math.Min(0, Vector3.Dot(supportContact.Contact.Normal, down) * (CollisionDetectionSettings.AllowedPenetration * .5f - supportContact.Contact.PenetrationDepth));
return CharacterContactPositionState.TooDeep;
}
else //if (supportState == SupportState.Separated)
{
//It's not obstructed, but the support isn't quite right.
//It's got a negative penetration depth.
//We can use that as a hint.
hintOffset = -.001f - Vector3.Dot(supportContact.Contact.Normal, down) * supportContact.Contact.PenetrationDepth;
return CharacterContactPositionState.NoHit;
}
}
else //Not obstructed, but no support.
{
return CharacterContactPositionState.NoHit;
}
}
///<summary>
/// Initializes the manifold.
///</summary>
///<param name="newCollidableA">First collidable.</param>
///<param name="newCollidableB">Second collidable.</param>
public override void Initialize(Collidable newCollidableA, Collidable newCollidableB)
{
collidableA = newCollidableA as ConvexCollidable;
collidableB = newCollidableB as ConvexCollidable;
pairTester.Initialize(newCollidableA, newCollidableB);
if (collidableA == null || collidableB == null)
{
throw new Exception("Inappropriate types used to initialize pair tester.");
}
}
///<summary>
/// Cleans up the manifold.
///</summary>
public override void CleanUp()
{
supplementData.Clear();
collidableA = null;
collidableB = null;
pairTester.CleanUp();
base.CleanUp();
}
///<summary>
/// Initializes the manifold.
///</summary>
///<param name="newCollidableA">First collidable.</param>
///<param name="newCollidableB">Second collidable.</param>
///<exception cref="Exception">Thrown when the collidables being used are not of the proper type.</exception>
public override void Initialize(Collidable newCollidableA, Collidable newCollidableB)
{
box = newCollidableA as ConvexCollidable<BoxShape>;
sphere = newCollidableB as ConvexCollidable<SphereShape>;
if (box == null || sphere == null)
{
box = newCollidableB as ConvexCollidable<BoxShape>;
sphere = newCollidableA as ConvexCollidable<SphereShape>;
if (box == null || sphere == null)
{
throw new ArgumentException("Inappropriate types used to initialize pair.");
}
}
}
