public void RemoveShip(SpaceShip ship)
{
if (ship.OctTreeNode == null)
{
return;
}
//// See if ship fits in current node
//Vector3 shipCenter = ship.CollisionSphere.Center, nodeCenter = ship.OctTreeNode.Center;
//float shipRadius = ship.CollisionSphere.Radius, nodeRadius = ship.OctTreeNode.HalfSize;
//bool straddling = Math.Abs(nodeCenter.X) + nodeRadius < Math.Abs(shipCenter.X) + shipRadius
// || Math.Abs(nodeCenter.Y) + nodeRadius < Math.Abs(shipCenter.Y) + shipRadius
// || Math.Abs(nodeCenter.Z) + nodeRadius < Math.Abs(shipCenter.Z) + shipRadius;
//////var delta = ship.CollisionSphere.Center - ship.OctTreeNode.Center;
//////float radius = ship.CollisionSphere.Radius + ship.OctTreeNode.HalfSize;
//////bool straddling = Math.Abs(delta.X) < radius
////// || Math.Abs(delta.Y) < radius
////// || Math.Abs(delta.Z) < radius;
//var delta = ship.CollisionSphere.Center - ship.OctTreeNode.Center;
//float distSquared = Vector3.Dot(delta, delta);
//bool straddling = distSquared <= ship.CollisionSphere.Radius * ship.CollisionSphere.Radius;
//if (!straddling && ship.OctTreeNode == _root)
//{
// So many failed algorithms, ended up using none at all ='[
ship.OctTreeNode.Ships.Remove(ship.ShipNode);
ship.OctTreeNode = null;
//}
}
public bool Collides(SpaceShip that)
{
// Avoid testing collsion against self
if (this == that)
{
return(false);
}
// if we have collision on the sphere
if (this.CollisionSphere.Intersects(that.CollisionSphere))
{
CollisionSphere.Color = Color.Red.ToVector3();
//if sphear intersects show balls
//run GJK on HULLs
foreach (var thisHull in this.ShipHulls)
{
foreach (var thatHull in that.ShipHulls)
{
if (GJKAlgorithm.Process(thisHull, thatHull))
{
this._collingMeshIndex = thisHull.IndexNo;
that._collingMeshIndex = thatHull.IndexNo;
this.Colored = true;
that.Colored = true;
return(true);
}
}
}
}
return(false);
}
/// <summary>
/// LoadContent will be called once per game and is the place to load
/// all of your content.
/// </summary>
protected override void LoadContent()
{
// Create a new SpriteBatch, which can be used to draw textures.
_spriteBatch = new SpriteBatch(GraphicsDevice);
_random = new Random();
// Camera
_camera = new Camera();
// Outer bouding cube
_boundinghCube = new BoundingCube(this, OuterBoundarySize);
// Spaceships
_spaceShips = new SpaceShip[NumberOfShips];
float shipSpacing = 0;
for (int i = 0; i < NumberOfShips; i++)
{
Vector3 position = new Vector3(
(i & 1) != 0 ? shipSpacing : -shipSpacing,
(i & 2) != 0 ? shipSpacing : -shipSpacing,
(i & 4) != 0 ? shipSpacing : -shipSpacing);
_spaceShips[i] = new SpaceShip(this, position);
if (i % 8 == 0)
{
shipSpacing += ShipSpacing;
}
}
_octTree = new Octree(GraphicsDevice, OuterBoundarySize, _spaceShips);
// Text that displays FPS on upper left coner
_fpsFont = Content.Load <SpriteFont>("Models\\Font");
base.LoadContent();
}
public BoundingBall(CollisionDetection cd, Vector3[] vertices, SpaceShip ship)
{
_ship = ship;
// Find the most separated point pair defining the encompassing AABB
var mostDistantPoints = MostSeparatedPointsOnAABB(vertices);
int min = mostDistantPoints.Item1, max = mostDistantPoints.Item2;
// Set up sphere to just encompass these two points
Center = (vertices[min] + vertices[max]) * 0.5f;
Radius = (float)Math.Sqrt(Vector3.Dot(vertices[max] - Center, vertices[max] - Center));
// Grow sphere to include all points
for (int i = 0; i < vertices.Length; i++)
{
SphereOfSphereAndPt(vertices[i]);
}
// Loading the sphere's model and saving the bone transform to make it easier to draw
_model = cd.Content.Load <Model>("Models\\Sphere");
_transforms = new Matrix[_model.Bones.Count];
Center = _ship.Position; // Ship is slightly off center, but radius is good
Color = Vector3.One;
}
public void AddShip(SpaceShip ship)
{
_root.AddShip(ship, _root);
}
internal void AddShip(SpaceShip ship, OctreeNode parent)
{
//// Wallace's hack: if center point of the node
//// is contained in the sphere it will straddle with the children
//// therefore we want to keep it on current node
//var delta = ship.CollisionSphere.Center - this.Center;
//float distSquared = Vector3.Dot(delta, delta);
//bool straddling = distSquared <= ship.CollisionSphere.Radius * ship.CollisionSphere.Radius;
var nodeTop = Math.Abs(this.Center.Y) + HalfSize;
var nodeBottom = Math.Abs(this.Center.Y) - HalfSize;
var nodeLeft = Math.Abs(this.Center.X) - HalfSize;
var nodeRight = Math.Abs(this.Center.X) + HalfSize;
var nodeFront = Math.Abs(this.Center.Z) + HalfSize;
var nodeBack = Math.Abs(this.Center.Z) - HalfSize;
var sphereTop = Math.Abs(ship.CollisionSphere.Center.Y) + ship.CollisionSphere.Radius;
var sphereBottom = Math.Abs(ship.CollisionSphere.Center.Y) - ship.CollisionSphere.Radius;
var sphereLeft = Math.Abs(ship.CollisionSphere.Center.X) - ship.CollisionSphere.Radius;
var sphereRight = Math.Abs(ship.CollisionSphere.Center.X) + ship.CollisionSphere.Radius;
var sphereFront = Math.Abs(ship.CollisionSphere.Center.Z) + ship.CollisionSphere.Radius;
var sphereBack = Math.Abs(ship.CollisionSphere.Center.Z) - ship.CollisionSphere.Radius;
bool straddles = sphereTop >= nodeTop ||
sphereBottom <= nodeBottom ||
sphereLeft <= nodeLeft ||
sphereRight >= nodeRight ||
sphereFront >= nodeFront ||
sphereBack <= nodeBack;
//// Usefull for debug
//_vertices[22] = new VertexPositionColor(ship.CollisionSphere.Center, Color.Black);
//_vertices[23] = new VertexPositionColor(ship.CollisionSphere.Center + new Vector3(0, -ship.CollisionSphere.Radius, 0), Color.Black);
//var center = Vector3.Transform(Center,
//Matrix.CreateTranslation(ship.CollisionSphere.Center));
// Fully contained in existing child node; insert in that subtree
if (!straddles && _depth > 0)
{
int childOctant = 0;
var delta = ship.CollisionSphere.Center - this.Center;
if (delta.X > 0.0f)
{
childOctant += 1;
}
if (delta.Y > 0.0f)
{
childOctant += 2;
}
if (delta.Z > 0.0f)
{
childOctant += 4;
}
Children[childOctant].AddShip(ship, this);
}
else if (straddles) // Straddles
{
ship.OctTreeNode = parent;
ship.ShipNode = parent.Ships.AddLast(ship);
}
else // no children left
{
ship.OctTreeNode = this;
ship.ShipNode = Ships.AddLast(ship);
}
}
