void Events_InitialCollisionDetected(EntityCollidable sender, Collidable other, CollidablePairHandler pair)
{
if ("Environment".Equals(other.Tag))
{
// do something on collision
}
}
public static void GetShapeMeshData(EntityCollidable collidable, List<VertexPositionNormalTexture> vertices, List<ushort> indices)
{
var convexHullShape = collidable.Shape as ConvexHullShape;
if (convexHullShape == null)
throw new ArgumentException("Wrong shape type.");
var hullTriangleVertices = new List<BEPUutilities.Vector3>();
var hullTriangleIndices = new List<int>();
ConvexHullHelper.GetConvexHull(convexHullShape.Vertices, hullTriangleIndices, hullTriangleVertices);
//The hull triangle vertices are used as a dummy to get the unnecessary hull vertices, which are cleared afterwards.
hullTriangleVertices.Clear();
foreach (int i in hullTriangleIndices)
{
hullTriangleVertices.Add(convexHullShape.Vertices[i]);
}
var toReturn = new VertexPositionNormalTexture[hullTriangleVertices.Count];
Vector3 normal;
for (ushort i = 0; i < hullTriangleVertices.Count; i += 3)
{
normal = MathConverter.Convert(BEPUutilities.Vector3.Normalize(BEPUutilities.Vector3.Cross(hullTriangleVertices[i + 2] - hullTriangleVertices[i], hullTriangleVertices[i + 1] - hullTriangleVertices[i])));
vertices.Add(new VertexPositionNormalTexture(MathConverter.Convert(hullTriangleVertices[i]), normal, new Vector2(0, 0)));
vertices.Add(new VertexPositionNormalTexture(MathConverter.Convert(hullTriangleVertices[i + 1]), normal, new Vector2(1, 0)));
vertices.Add(new VertexPositionNormalTexture(MathConverter.Convert(hullTriangleVertices[i + 2]), normal, new Vector2(0, 1)));
indices.Add(i);
indices.Add((ushort)(i + 1));
indices.Add((ushort)(i + 2));
}
}
public static void GetShapeMeshData(EntityCollidable collidable, List<VertexPositionNormalTexture> vertices, List<ushort> indices)
{
var shape = collidable.Shape as ConvexShape;
if (shape == null)
throw new ArgumentException("Wrong shape type for this helper.");
var vertexPositions = new BEPUutilities.Vector3[SampleDirections.Length];
for (int i = 0; i < SampleDirections.Length; ++i)
{
shape.GetLocalExtremePoint(SampleDirections[i], out vertexPositions[i]);
}
var hullIndices = new RawList<int>();
ConvexHullHelper.GetConvexHull(vertexPositions, hullIndices);
var hullTriangleVertices = new RawList<BEPUutilities.Vector3>();
foreach (int i in hullIndices)
{
hullTriangleVertices.Add(vertexPositions[i]);
}
for (ushort i = 0; i < hullTriangleVertices.Count; i += 3)
{
Vector3 normal = MathConverter.Convert(BEPUutilities.Vector3.Normalize(BEPUutilities.Vector3.Cross(hullTriangleVertices[i + 2] - hullTriangleVertices[i], hullTriangleVertices[i + 1] - hullTriangleVertices[i])));
vertices.Add(new VertexPositionNormalTexture(MathConverter.Convert(hullTriangleVertices[i]), normal, new Vector2(0, 0)));
vertices.Add(new VertexPositionNormalTexture(MathConverter.Convert(hullTriangleVertices[i + 1]), normal, new Vector2(1, 0)));
vertices.Add(new VertexPositionNormalTexture(MathConverter.Convert(hullTriangleVertices[i + 2]), normal, new Vector2(0, 1)));
indices.Add(i);
indices.Add((ushort)(i + 1));
indices.Add((ushort)(i + 2));
}
}
internal CompoundChild(CompoundShape shape, EntityCollidable collisionInformation, Material material, int index)
{
this.shape = shape;
this.collisionInformation = collisionInformation;
Material = material;
this.shapeIndex = index;
}
private void CollisionDetectedHandler(EntityCollidable sender, Collidable other, CollidablePairHandler pair)
{
EntityCollidable otherEntityCollidable = other as EntityCollidable;
Terrain otherTerrain = other as Terrain;
if (otherEntityCollidable != null &&
otherEntityCollidable.Entity != null &&
otherEntityCollidable.Entity.Tag != null)
{
int actorId = (int)(otherEntityCollidable.Entity.Tag);
if (actorId == mOwnerActorId)
return;
Actor actorHit = GameResources.ActorManager.GetActorById(actorId);
IDamagable damage = actorHit.GetBehaviorThatImplementsType<IDamagable>();
if (damage != null)
{
damage.TakeDamage(mDamage);
}
Impact();
}
else if (otherTerrain != null)
{
Impact();
}
}
public static void GetShapeMeshData(EntityCollidable collidable, List<VertexPositionNormalTexture> vertices, List<ushort> indices)
{
var compoundCollidable = collidable as CompoundCollidable;
if (compoundCollidable == null)
throw new ArgumentException("Wrong shape type.");
var tempIndices = new List<ushort>();
var tempVertices = new List<VertexPositionNormalTexture>();
for (int i = 0; i < compoundCollidable.Children.Count; i++)
{
var child = compoundCollidable.Children[i];
ModelDrawer.ShapeMeshGetter shapeMeshGetter;
if (ModelDrawer.ShapeMeshGetters.TryGetValue(child.CollisionInformation.GetType(), out shapeMeshGetter))
{
shapeMeshGetter(child.CollisionInformation, tempVertices, tempIndices);
for (int j = 0; j < tempIndices.Count; j++)
{
indices.Add((ushort)(tempIndices[j] + vertices.Count));
}
RigidTransform localTransform = child.Entry.LocalTransform;
Vector3 localPosition = child.CollisionInformation.LocalPosition;
for (int j = 0; j < tempVertices.Count; j++)
{
VertexPositionNormalTexture vertex = tempVertices[j];
Vector3.Add(ref vertex.Position, ref localPosition, out vertex.Position);
RigidTransform.Transform(ref vertex.Position, ref localTransform, out vertex.Position);
Vector3.Transform(ref vertex.Normal, ref localTransform.Orientation, out vertex.Normal);
vertices.Add(vertex);
}
tempVertices.Clear();
tempIndices.Clear();
}
}
}
public static void GetShapeMeshData(EntityCollidable collidable, List<VertexPositionNormalTexture> vertices, List<ushort> indices)
{
var minkowskiShape = collidable.Shape as MinkowskiSumShape;
if (minkowskiShape == null)
throw new ArgumentException("Wrong shape type.");
var points = new List<Vector3>();
Vector3 max;
var direction = new Vector3();
float angleChange = MathHelper.TwoPi / NumSamples;
for (int i = 1; i < NumSamples / 2 - 1; i++)
{
float phi = MathHelper.PiOver2 - i * angleChange;
var sinPhi = (float)Math.Sin(phi);
var cosPhi = (float)Math.Cos(phi);
for (int j = 0; j < NumSamples; j++)
{
float theta = j * angleChange;
direction.X = (float)Math.Cos(theta) * cosPhi;
direction.Y = sinPhi;
direction.Z = (float)Math.Sin(theta) * cosPhi;
minkowskiShape.GetLocalExtremePoint(direction, out max);
points.Add(max);
}
}
minkowskiShape.GetLocalExtremePoint(Toolbox.UpVector, out max);
points.Add(max);
minkowskiShape.GetLocalExtremePoint(Toolbox.DownVector, out max);
points.Add(max);
var hullTriangleVertices = new List<Vector3>();
var hullTriangleIndices = new List<int>();
ConvexHullHelper.GetConvexHull(points, hullTriangleIndices, hullTriangleVertices);
//The hull triangle vertices are used as a dummy to get the unnecessary hull vertices, which are cleared afterwards.
hullTriangleVertices.Clear();
foreach (int i in hullTriangleIndices)
{
hullTriangleVertices.Add(points[i]);
}
Vector3 normal;
for (ushort i = 0; i < hullTriangleVertices.Count; i += 3)
{
normal = Vector3.Normalize(Vector3.Cross(hullTriangleVertices[i + 2] - hullTriangleVertices[i], hullTriangleVertices[i + 1] - hullTriangleVertices[i]));
vertices.Add(new VertexPositionNormalTexture(hullTriangleVertices[i], normal, new Vector2(0, 0)));
vertices.Add(new VertexPositionNormalTexture(hullTriangleVertices[i + 1], normal, new Vector2(1, 0)));
vertices.Add(new VertexPositionNormalTexture(hullTriangleVertices[i + 2], normal, new Vector2(0, 1)));
indices.Add(i);
indices.Add((ushort)(i + 1));
indices.Add((ushort)(i + 2));
}
}
public void InitialCollisionDetected(EntityCollidable sender, Collidable other, CollidablePairHandler collisionPair)
{
if (other == acceptedTrigger)
{
//If the detector collided with the accepted trigger, move the box.
movedBox.Position = new Vector3(4, 5, 0);
movedBox.Orientation = Quaternion.Identity;
movedBox.LinearVelocity = Vector3.Zero;
movedBox.AngularVelocity = Vector3.Zero;
}
}
private void Events_InitialCollisionDetected(BEPUphysics.BroadPhaseEntries.MobileCollidables.EntityCollidable sender, BEPUphysics.BroadPhaseEntries.Collidable other, BEPUphysics.NarrowPhaseSystems.Pairs.CollidablePairHandler pair)
{
Console.WriteLine(duckID + " Duck Collision");
var otherEntityInformation = other as EntityCollidable;
string tag = (string)otherEntityInformation.Entity.Tag;
// don't remove if it hits any of the packs
if (!tag.Contains("fuelPack") && !tag.Contains("torpedoPack"))
{
RemoveFromGame();
}
}
private void InitialCollisionDetectedHandler(EntityCollidable sender, Collidable other, CollidablePairHandler pair)
{
EntityCollidable otherEntityCollidable = other as EntityCollidable;
if (otherEntityCollidable != null &&
otherEntityCollidable.Entity != null &&
otherEntityCollidable.Entity.Tag != null &&
mTriggerSet &&
GameResources.ActorManager.IsPlayer((int)(otherEntityCollidable.Entity.Tag)))
{
mTriggerSet = false;
GameResources.LoadNewLevelDelegate(mLevelName);
}
}
private void Events_InitialCollisionDetected(BEPUphysics.BroadPhaseEntries.MobileCollidables.EntityCollidable sender, BEPUphysics.BroadPhaseEntries.Collidable other, BEPUphysics.NarrowPhaseSystems.Pairs.CollidablePairHandler pair)
{
// issues with motion upon impact with other objects
Console.WriteLine("Ship Collision");
var otherEntityInformation = other as EntityCollidable;
string tag = (string)otherEntityInformation.Entity.Tag;
if (tag.Contains("duck"))
{
Console.WriteLine("Hit DUCK");
if (!shieldActive)
{
health -= duckDamage;
generalInfoMessage = "DAMAGE TAKEN";
}
}
if (tag.Equals("turtle"))
{
Console.WriteLine("Hit Turtle");
if (Vector3.Distance(linearVelocity, maxVelocityToWin) <= 2f)
{
conclusionMessage = "You successfully claimed the sacred Turtle!";
}
else
{
conclusionMessage = "Your ship was going too fast! Failed to safely aquire the Turtle.";
}
}
if (tag.Contains("fuelPack"))
{
float newValue = fuelLevel + fuelPackValue;
// can't go over 100 fuel
if (newValue > 100)
{
fuelLevel = 100;
}
else
{
fuelLevel = newValue;
}
generalInfoMessage = "FUEL PACK AQUIRED ";
}
if (tag.Contains("torpedoPack"))
{
// TODO - broken
// AddTorpedo();
generalInfoMessage = "TORPEDO PACK AQUIRED";
}
}
public static void GetShapeMeshData(EntityCollidable collidable, List<VertexPositionNormalTexture> vertices, List<ushort> indices)
{
ConeShape coneShape = collidable.Shape as ConeShape;
if (coneShape == null)
throw new ArgumentException("Wrong shape type.");
float verticalOffset = -coneShape.Height / 4;
float angleBetweenFacets = MathHelper.TwoPi / NumSides;
float radius = coneShape.Radius;
//Create the vertex list
var topVertexPosition = new Vector3(0, coneShape.Height + verticalOffset, 0);
for (int i = 0; i < NumSides; i++)
{
float theta = i * angleBetweenFacets;
var position = new Vector3((float)Math.Cos(theta) * radius, verticalOffset, (float)Math.Sin(theta) * radius);
Vector3 offset = topVertexPosition - position;
Vector3 normal = Vector3.Normalize(Vector3.Cross(Vector3.Cross(offset, Vector3.Up), offset));
//Top vertex
vertices.Add(new VertexPositionNormalTexture(topVertexPosition, normal, Vector2.Zero));
//Sloped vertices
vertices.Add(new VertexPositionNormalTexture(position, normal, Vector2.Zero));
//Bottom vertices
vertices.Add(new VertexPositionNormalTexture(position, Vector3.Down, Vector2.Zero));
}
//Create the index list
for (ushort i = 0; i < vertices.Count; i += 3)
{
//Each iteration, the loop advances to the next vertex 'column.'
//Four triangles per column (except for the four degenerate cap triangles).
//Sloped Triangles
indices.Add(i);
indices.Add((ushort)(i + 1));
indices.Add((ushort)((i + 4) % vertices.Count));
//Bottom cap triangles.
var nextIndex = (ushort)((i + 5) % vertices.Count);
if (nextIndex != 2) //Don't add cap indices if it's going to be a degenerate triangle.
{
indices.Add((ushort)(i + 2));
indices.Add(2);
indices.Add(nextIndex);
}
}
}
private void InitialCollisionDetectedHandler(EntityCollidable sender, Collidable other, CollidablePairHandler pair)
{
EntityCollidable otherEntityCollidable = other as EntityCollidable;
if (otherEntityCollidable != null &&
otherEntityCollidable.Entity != null &&
otherEntityCollidable.Entity.Tag != null &&
mTriggerSet &&
GameResources.ActorManager.IsPlayer((int)(otherEntityCollidable.Entity.Tag)))
{
PlayerView finder = GameResources.ActorManager.GetPlayerViewOfAvatar((int)(otherEntityCollidable.Entity.Tag));
finder.AvatarDesc.ObtainItem(Item);
mTriggerSet = false;
Owner.Despawn();
}
}
private void Events_InitialCollisionDetected(BEPUphysics.BroadPhaseEntries.MobileCollidables.EntityCollidable sender, BEPUphysics.BroadPhaseEntries.Collidable other, BEPUphysics.NarrowPhaseSystems.Pairs.CollidablePairHandler pair)
{
Console.WriteLine(fuelPackID + " FuellPack Collision");
var otherEntityInformation = other as EntityCollidable;
string tag = (string)otherEntityInformation.Entity.Tag;
// only remove object if comes in contact with the ship
if (tag.Equals("ship"))
{
if (Game.Components.Contains(this))
{
RemoveFromGame();
}
}
}
private void Events_InitialCollisionDetected(BEPUphysics.BroadPhaseEntries.MobileCollidables.EntityCollidable sender, BEPUphysics.BroadPhaseEntries.Collidable other, BEPUphysics.NarrowPhaseSystems.Pairs.CollidablePairHandler pair)
{
Console.WriteLine(torpedoID + " Collision");
var otherEntityInformation = other as EntityCollidable;
string tag = (string)otherEntityInformation.Entity.Tag;
// hitting the ship doesn't remove the torpedo (would interfer with firing logic
if (!tag.Equals("ship"))
{
if (Game.Components.Contains(this))
{
RemoveFromGame();
}
}
}
protected void TryToAdd(EntityCollidable collidable)
{
CollisionRule rule;
if ((rule = CollisionRules.collisionRuleCalculator(DetectorVolume, collidable)) < CollisionRule.NoNarrowPhasePair)
{
//Clamp the rule to the parent's rule. Always use the more restrictive option.
//Don't have to test for NoNarrowPhasePair rule on the parent's rule because then the parent wouldn't exist!
if (rule < CollisionRule)
rule = CollisionRule;
if (!subPairs.ContainsKey(collidable))
{
var newPair = NarrowPhaseHelper.GetPairHandler(DetectorVolume, collidable, rule) as DetectorVolumePairHandler;
if (newPair != null)
{
newPair.Parent = this;
subPairs.Add(collidable, newPair);
}
}
containedPairs.Add(collidable);
}
}
public static void GetShapeMeshData(EntityCollidable collidable, List<VertexPositionNormalTexture> vertices, List<ushort> indices)
{
var triangleShape = collidable.Shape as TriangleShape;
if(triangleShape == null)
throw new ArgumentException("Wrong shape type.");
Vector3 normal = triangleShape.GetLocalNormal();
vertices.Add(new VertexPositionNormalTexture(triangleShape.VertexA, -normal, new Vector2(0, 0)));
vertices.Add(new VertexPositionNormalTexture(triangleShape.VertexB, -normal, new Vector2(0, 1)));
vertices.Add(new VertexPositionNormalTexture(triangleShape.VertexC, -normal, new Vector2(1, 0)));
vertices.Add(new VertexPositionNormalTexture(triangleShape.VertexA, normal, new Vector2(0, 0)));
vertices.Add(new VertexPositionNormalTexture(triangleShape.VertexB, normal, new Vector2(0, 1)));
vertices.Add(new VertexPositionNormalTexture(triangleShape.VertexC, normal, new Vector2(1, 0)));
indices.Add(0);
indices.Add(1);
indices.Add(2);
indices.Add(3);
indices.Add(5);
indices.Add(4);
}
public static void GetShapeMeshData(EntityCollidable collidable, List<VertexPositionNormalTexture> vertices, List<ushort> indices)
{
MobileMeshShape shape = collidable.Shape as MobileMeshShape;
var tempVertices = new VertexPositionNormalTexture[shape.TriangleMesh.Data.Vertices.Length];
for (int i = 0; i < shape.TriangleMesh.Data.Vertices.Length; i++)
{
BEPUutilities.Vector3 position;
shape.TriangleMesh.Data.GetVertexPosition(i, out position);
tempVertices[i] = new VertexPositionNormalTexture(
MathConverter.Convert(position),
Vector3.Zero,
Vector2.Zero);
}
for (int i = 0; i < shape.TriangleMesh.Data.Indices.Length; i++)
{
indices.Add((ushort)shape.TriangleMesh.Data.Indices[i]);
}
for (int i = 0; i < indices.Count; i += 3)
{
int a = indices[i];
int b = indices[i + 1];
int c = indices[i + 2];
Vector3 normal = Vector3.Normalize(Vector3.Cross(
tempVertices[c].Position - tempVertices[a].Position,
tempVertices[b].Position - tempVertices[a].Position));
tempVertices[a].Normal += normal;
tempVertices[b].Normal += normal;
tempVertices[c].Normal += normal;
}
for (int i = 0; i < tempVertices.Length; i++)
{
tempVertices[i].Normal.Normalize();
vertices.Add(tempVertices[i]);
}
}
/// <summary>
/// Finds contacts between the query object and any intersected objects within the character's bounding box.
/// </summary>
/// <param name="queryObject">Collidable to query for contacts with.</param>
/// <param name="tractionContacts">Output contacts that would provide traction.</param>
/// <param name="supportContacts">Output contacts that would provide support.</param>
/// <param name="sideContacts">Output contacts on the sides of the query object.</param>
/// <param name="headContacts">Output contacts on the head of the query object.</param>
public void QueryContacts(EntityCollidable queryObject,
ref QuickList<CharacterContact> tractionContacts, ref QuickList<CharacterContact> supportContacts, ref QuickList<CharacterContact> sideContacts, ref QuickList<CharacterContact> headContacts)
{
var downDirection = characterBody.orientationMatrix.Down;
tractionContacts.Clear();
supportContacts.Clear();
sideContacts.Clear();
headContacts.Clear();
foreach (var collidable in characterBody.CollisionInformation.OverlappedCollidables)
{
//The query object is assumed to have a valid bounding box.
if (collidable.BoundingBox.Intersects(queryObject.BoundingBox))
{
var pair = new CollidablePair(collidable, queryObject);
var pairHandler = NarrowPhaseHelper.GetPairHandler(ref pair);
if (pairHandler.CollisionRule == CollisionRule.Normal)
{
pairHandler.SuppressEvents = true;
pairHandler.UpdateCollision(0);
pairHandler.SuppressEvents = false;
contactCategorizer.CategorizeContacts(pairHandler, characterBody.CollisionInformation, ref downDirection,
ref tractionContacts, ref supportContacts, ref sideContacts, ref headContacts);
}
//TODO: It would be nice if this was a bit easier.
//Having to remember to clean up AND give it back is a bit weird, especially with the property-diving.
//No one would ever just guess this correctly.
//At least hide it behind a NarrowPhaseHelper function.
pairHandler.CleanUp();
pairHandler.Factory.GiveBack(pairHandler);
}
}
}
void QueryContacts(Vector3 position, EntityCollidable queryObject)
{
ClearContacts();
//Update the position and orientation of the query object.
RigidTransform transform;
transform.Position = position;
transform.Orientation = character.Body.Orientation;
queryObject.UpdateBoundingBoxForTransform(ref transform, 0);
foreach (var collidable in character.Body.CollisionInformation.OverlappedCollidables)
{
if (collidable.BoundingBox.Intersects(queryObject.BoundingBox))
{
var pair = new CollidablePair(collidable, queryObject);
var pairHandler = NarrowPhaseHelper.GetPairHandler(ref pair);
if (pairHandler.CollisionRule == CollisionRule.Normal)
{
pairHandler.SuppressEvents = true;
pairHandler.UpdateCollision(0);
pairHandler.SuppressEvents = false;
foreach (var contact in pairHandler.Contacts)
{
//Must check per-contact collision rules, just in case
//the pair was actually a 'parent pair.'
if (contact.Pair.CollisionRule == CollisionRule.Normal)
{
ContactData contactData;
contactData.Position = contact.Contact.Position;
contactData.Normal = contact.Contact.Normal;
contactData.Id = contact.Contact.Id;
contactData.PenetrationDepth = contact.Contact.PenetrationDepth;
contacts.Add(contactData);
}
}
}
//TODO: It would be nice if this was a bit easier.
//Having to remember to clean up AND give it back is a bit weird, especially with the property-diving.
//No one would ever just guess this correctly.
//At least hide it behind a NarrowPhaseHelper function.
pairHandler.CleanUp();
pairHandler.Factory.GiveBack(pairHandler);
}
}
CategorizeContacts(ref position);
}
private void PrepareQueryObject(EntityCollidable queryObject, ref Vector3 position)
{
RigidTransform transform;
transform.Position = position;
transform.Orientation = characterBody.Orientation;
queryObject.UpdateBoundingBoxForTransform(ref transform, 0);
}
public void CollisionEnded(EntityCollidable sender, Collidable other, CollidablePairHandler collisionPair)
{
if (other == acceptedTrigger)
{
//If the detector ceases to collide, get rid of the spawned box.
movedBox.Position = new Vector3(-4, 5, 0);
movedBox.Orientation = Quaternion.Identity;
movedBox.LinearVelocity = Vector3.Zero;
movedBox.AngularVelocity = Vector3.Zero;
}
}
float GetSubmergedHeight(EntityCollidable collidable, float maxLength, float boundingBoxHeight, ref System.Numerics.Vector3 rayOrigin, ref System.Numerics.Vector3 xSpacing, ref System.Numerics.Vector3 zSpacing, int i, int j, out System.Numerics.Vector3 volumeCenter)
{
Ray ray;
Vector3Ex.Multiply(ref xSpacing, i, out ray.Position);
Vector3Ex.Multiply(ref zSpacing, j, out ray.Direction);
Vector3Ex.Add(ref ray.Position, ref ray.Direction, out ray.Position);
Vector3Ex.Add(ref ray.Position, ref rayOrigin, out ray.Position);
ray.Direction = upVector;
//do a bottom-up raycast.
RayHit rayHit;
//Only go up to maxLength. If it's further away than maxLength, then it's above the water and it doesn't contribute anything.
if (collidable.RayCast(ray, maxLength, out rayHit))
{
//Position the ray to point from the other side.
Vector3Ex.Multiply(ref ray.Direction, boundingBoxHeight, out ray.Direction);
Vector3Ex.Add(ref ray.Position, ref ray.Direction, out ray.Position);
Vector3Ex.Negate(ref upVector, out ray.Direction);
//Transform the hit into local space.
RigidTransform.TransformByInverse(ref rayHit.Location, ref surfaceTransform, out rayHit.Location);
float bottomY = rayHit.Location.Y;
float bottom = rayHit.T;
System.Numerics.Vector3 bottomPosition = rayHit.Location;
if (collidable.RayCast(ray, boundingBoxHeight - rayHit.T, out rayHit))
{
//Transform the hit into local space.
RigidTransform.TransformByInverse(ref rayHit.Location, ref surfaceTransform, out rayHit.Location);
Vector3Ex.Add(ref rayHit.Location, ref bottomPosition, out volumeCenter);
Vector3Ex.Multiply(ref volumeCenter, .5f, out volumeCenter);
return Math.Min(-bottomY, boundingBoxHeight - rayHit.T - bottom);
}
//This inner raycast should always hit, but just in case it doesn't due to some numerical problem, give it a graceful way out.
volumeCenter = System.Numerics.Vector3.Zero;
return 0;
}
volumeCenter = System.Numerics.Vector3.Zero;
return 0;
}
void GetBuoyancyInformation(EntityCollidable collidable, out float submergedVolume, out System.Numerics.Vector3 submergedCenter)
{
BoundingBox entityBoundingBox;
RigidTransform localTransform;
RigidTransform.MultiplyByInverse(ref collidable.worldTransform, ref surfaceTransform, out localTransform);
collidable.Shape.GetBoundingBox(ref localTransform, out entityBoundingBox);
if (entityBoundingBox.Min.Y > 0)
{
//Fish out of the water. Don't need to do raycast tests on objects not at the boundary.
submergedVolume = 0;
submergedCenter = collidable.worldTransform.Position;
return;
}
if (entityBoundingBox.Max.Y < 0)
{
submergedVolume = collidable.entity.CollisionInformation.Shape.Volume;
submergedCenter = collidable.worldTransform.Position;
return;
}
System.Numerics.Vector3 origin, xSpacing, zSpacing;
float perColumnArea;
GetSamplingOrigin(ref entityBoundingBox, out xSpacing, out zSpacing, out perColumnArea, out origin);
float boundingBoxHeight = entityBoundingBox.Max.Y - entityBoundingBox.Min.Y;
float maxLength = -entityBoundingBox.Min.Y;
submergedCenter = new System.Numerics.Vector3();
submergedVolume = 0;
for (int i = 0; i < samplePointsPerDimension; i++)
{
for (int j = 0; j < samplePointsPerDimension; j++)
{
System.Numerics.Vector3 columnVolumeCenter;
float submergedHeight;
if ((submergedHeight = GetSubmergedHeight(collidable, maxLength, boundingBoxHeight, ref origin, ref xSpacing, ref zSpacing, i, j, out columnVolumeCenter)) > 0)
{
float columnVolume = submergedHeight * perColumnArea;
Vector3Ex.Multiply(ref columnVolumeCenter, columnVolume, out columnVolumeCenter);
Vector3Ex.Add(ref columnVolumeCenter, ref submergedCenter, out submergedCenter);
submergedVolume += columnVolume;
}
}
}
Vector3Ex.Divide(ref submergedCenter, submergedVolume, out submergedCenter);
//Pull the submerged center into world space before applying the force.
RigidTransform.Transform(ref submergedCenter, ref surfaceTransform, out submergedCenter);
}
///<summary>
/// Constructs a new kinematic entity.
///</summary>
///<param name="collisionInformation">Collidable to use with the entity.</param>
public Entity(EntityCollidable collisionInformation)
: this()
{
Initialize(collisionInformation);
}
protected internal void Initialize(EntityCollidable collisionInformation, float mass)
{
CollisionInformation = collisionInformation;
if (mass > 0)
{
ShapeDistributionInformation shapeInfo;
collisionInformation.Shape.ComputeDistributionInformation(out shapeInfo);
Matrix3x3.Multiply(ref shapeInfo.VolumeDistribution, mass * InertiaHelper.InertiaTensorScale, out shapeInfo.VolumeDistribution);
volume = shapeInfo.Volume;
BecomeDynamic(mass, shapeInfo.VolumeDistribution);
}
else
{
volume = collisionInformation.Shape.ComputeVolume();
BecomeKinematic();
}
collisionInformation.Entity = this;
}
protected internal void Initialize(EntityCollidable collisionInformation, float mass, Matrix3x3 inertiaTensor)
{
CollisionInformation = collisionInformation;
if (mass > 0)
BecomeDynamic(mass, inertiaTensor);
else
BecomeKinematic();
collisionInformation.Entity = this;
}
protected internal void Initialize(EntityCollidable collisionInformation, float mass)
{
CollisionInformation = collisionInformation;
if (mass > 0)
{
BecomeDynamic(mass, collisionInformation.Shape.VolumeDistribution * (mass * InertiaHelper.InertiaTensorScale));
}
else
{
BecomeKinematic();
}
collisionInformation.Entity = this;
}
//These initialize methods make it easier to construct some Entity prefab types.
protected internal void Initialize(EntityCollidable collisionInformation)
{
CollisionInformation = collisionInformation;
BecomeKinematic();
collisionInformation.Entity = this;
}
///<summary>
/// Constructs a new entity.
///</summary>
///<param name="collisionInformation">Collidable to use with the entity.</param>
///<param name="mass">Mass of the entity. If positive, the entity will be dynamic. Otherwise, it will be kinematic.</param>
/// <param name="inertiaTensor">Inertia tensor of the entity. Only used for a dynamic entity.</param>
public Entity(EntityCollidable collisionInformation, float mass, Matrix3x3 inertiaTensor)
: this()
{
Initialize(collisionInformation, mass, inertiaTensor);
}
///<summary>
/// Constructs a new entity.
///</summary>
///<param name="collisionInformation">Collidable to use with the entity.</param>
///<param name="mass">Mass of the entity. If positive, the entity will be dynamic. Otherwise, it will be kinematic.</param>
public Entity(EntityCollidable collisionInformation, float mass)
: this()
{
Initialize(collisionInformation, mass);
}
protected internal void Initialize(EntityCollidable collisionInformation, float mass, Matrix3x3 inertiaTensor, float volume)
{
CollisionInformation = collisionInformation;
this.volume = volume;
BecomeDynamic(mass, inertiaTensor);
collisionInformation.Entity = this;
}
void RemoveFriction(EntityCollidable sender, BroadPhaseEntry other, NarrowPhasePair pair)
{
var collidablePair = pair as CollidablePairHandler;
if (collidablePair != null)
{
//The default values for InteractionProperties is all zeroes- zero friction, zero bounciness.
//That's exactly how we want the character to behave when hitting objects.
collidablePair.UpdateMaterialProperties(new InteractionProperties());
}
}
void GetBuoyancyInformation(EntityCollidable info, out float submergedVolume, out Vector3 submergedCenter)
{
BoundingBox entityBoundingBox;
entityBoundingBox = info.BoundingBox;// new BoundingBox();
//info.ComputeBoundingBox(ref surfaceOrientationTranspose, out entityBoundingBox);
if (entityBoundingBox.Min.Y > surfacePlaneHeight)
{
//Fish out of the water. Don't need to do raycast tests on objects not at the boundary.
submergedVolume = 0;
submergedCenter = info.WorldTransform.Position;
return;
}
if (entityBoundingBox.Max.Y < surfacePlaneHeight)
{
submergedVolume = info.Entity.Volume;
submergedCenter = info.WorldTransform.Position;
return;
}
Vector3 origin, xSpacing, zSpacing;
float perColumnArea;
GetSamplingOrigin(ref entityBoundingBox, out xSpacing, out zSpacing, out perColumnArea, out origin);
float boundingBoxHeight = entityBoundingBox.Max.Y - entityBoundingBox.Min.Y;
float maxLength = surfacePlaneHeight - entityBoundingBox.Min.Y;
submergedCenter = new Vector3();
submergedVolume = 0;
for (int i = 0; i < samplePointsPerDimension; i++)
{
for (int j = 0; j < samplePointsPerDimension; j++)
{
Vector3 columnVolumeCenter;
float submergedHeight;
if ((submergedHeight = GetSubmergedHeight(info, maxLength, boundingBoxHeight, ref origin, ref xSpacing, ref zSpacing, i, j, out columnVolumeCenter)) > 0)
{
float columnVolume = submergedHeight * perColumnArea;
Vector3.Multiply(ref columnVolumeCenter, columnVolume, out columnVolumeCenter);
Vector3.Add(ref columnVolumeCenter, ref submergedCenter, out submergedCenter);
submergedVolume += columnVolume;
}
}
}
Vector3.Divide(ref submergedCenter, submergedVolume, out submergedCenter);
}
